# Detection of Adversarial Attacks in Robotic Perception

arXiv: https://arxiv.org/abs/2603.28594 · HTML: https://mlsanity.com/paper/2603.28594/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 18 of its 26 references that are in the map.
- First posted on arXiv 30 Mar 2026.

## Builds on (most cited first, 18 of 18)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [Towards Evaluating the Robustness of Neural Networks](https://mlsanity.com/paper/1608.04644/) (2016)
- [The Limitations of Deep Learning in Adversarial Settings](https://mlsanity.com/paper/1511.07528/) (2015)
- [Adversarial Examples Are Not Easily Detected: Bypassing Ten Detection Methods](https://mlsanity.com/paper/1705.07263/) (2017)
- [Feature Squeezing: Detecting Adversarial Examples in Deep Neural Networks](https://mlsanity.com/paper/1704.01155/) (2017)
- [On the (Statistical) Detection of Adversarial Examples](https://mlsanity.com/paper/1702.06280/) (2017)
- [Understanding Measures of Uncertainty for Adversarial Example Detection](https://mlsanity.com/paper/1803.08533/) (2018)
- [Hypercolumns for Object Segmentation and Fine-grained Localization](https://mlsanity.com/paper/1411.5752/) (2014)
- [How Deep Learning Sees the World: A Survey on Adversarial Attacks & Defenses](https://mlsanity.com/paper/2305.10862/) (2023)
- [When Not to Classify: Anomaly Detection of Attacks (ADA) on DNN Classifiers at Test Time](https://mlsanity.com/paper/1712.06646/) (2017)
- [Detecting Adversarial Examples](https://mlsanity.com/paper/2410.17442/) (2024)

## Abstract (arXiv)

Deep Neural Networks (DNNs) achieve strong performance in semantic segmentation for robotic perception but remain vulnerable to adversarial attacks, threatening safety-critical applications. While robustness has been studied for image classification, semantic segmentation in robotic contexts requires specialized architectures and detection strategies.