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Patch Mask and Info Code

For example, TransFusion

cd TransFusion
conda activate transfusion-adv

Save instance patch mask, for instance patch attack

python tools/test_save_instance_patch_mask_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth patch_instance_mask_dir

Save patch info, for other patch attacks

python tools/test_save_patch_info_launcher.py configs/transfusion_nusc_voxel_LC_instancetoken.py ckpt/transfusion_LC.pth patch_info_dir

Attack Code Demo

TransFusion

cd TransFusion
conda activate transfusion-adv

fgsm eps=8

CUDA_VISIBLE_DEVICES=0 python tools/test_fgsm_img_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_fgsm_img_results 8

pgd eps=8 step=10

CUDA_VISIBLE_DEVICES=0 python tools/test_pgd_img_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_pgd_img_results 8 10

pgd img_eps=8 point_eps=0.5 step=10

CUDA_VISIBLE_DEVICES=0 python tools/test_pgd_imgpoint_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_pgd_imgpoint_results 8 0.5 10

instance patch patch_size=040 (for 0.4, 001 002 005 010 020 040 are supported) attack_step=10

CUDA_VISIBLE_DEVICES=0 python tools/test_patch_instance_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_instance_patch_results 040 10

class patch patch_size=0.05 lr=0.1. (please carefully SAVE the attack log, eval log is in the attack log.)

CUDA_VISIBLE_DEVICES=0 nohup python -u tools/test_patch_class_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_class_patch 0.05 0.1  >> adv_class_patch_size0.05_lr0.1.log 2>&1 &

temporal patch patch_size=0.05 lr=0.1 step=3

CUDA_VISIBLE_DEVICES=0 python tools/test_patch_temporal_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_temporal_patch_results 0.05 0.1 3

overlap patch patch_size=0.05 lr=0.1 step=20

CUDA_VISIBLE_DEVICES=0 python tools/test_patch_overlap_launcher.py configs/transfusion_nusc_voxel_LC_adv.py ckpt/transfusion_LC.pth adv_overlap_patch_results 0.05 0.1 20

Eval Code Demo

For all attacks except class patch and overlap patch, we use the following code to eval:

for example: transfusion fgsm

python tools/test_scatterd_eval.py configs/transfusion_nusc_voxel_LC_adv.py fgsm_img_resultseps8 -eval bbox

For class patch, eval is in the attack code, please carefully save the attack log and search for eval results.

For overlap patch, please refer to BEVFormer repo to find the evaluation code for overlap object detection.