Automatic Speech Recognition (ASR) systems are vulnerable to adversarial examples (AEs), where small, carefully designed perturbations are added to original audio to mislead the systems into generating target commands. Existing adversarial attacks typically initialize perturbations either as zero or as Text-to-Speech clips of the target command. The former accumulates the features of the command in the perturbed audio, while the latter constantly reduces the features of the command, resulting in the generation of AEs. Although most target commands in the AEs are imperceptible to humans, the audio often exhibits noticeable distortions or disruptions, making it apparent that the sound has been tampered with. This work aims to retain only the essential features of adversarial audio, minimizing distortions from unnecessary elements to improve quality and make the attack less detectable. Our findings highlight the importance of formants as critical features for black-box adversarial attacks, motivating the development of a novel Formant Filter Bank (FFB) tailored to the target command. By inputting musical audio into the FFB, we utilize the filtered output as the perturbation seed, which retains the formant features of the target command and blends in certain features of the original music. Then we search for a minimum enhancement factor for the perturbation seed to generate high-quality AEs. Our perturbation can be regarded as local amplitude modulation of the music, so we define the AE as EvilHarmony. Experimental results demonstrate that our method successfully attacks commercial black-box ASR models, including Microsoft, Google, Amazon, Tencentyun, Aliyun, and OpenAI Whisper-V3. Compared to existing approaches, our AEs achieve significantly greater stealth, with 53% to 77% of participants perceiving them as indistinguishable from normal audio across the six ASR API services. Additionally, our approach successfully attacks Google Assistant and voice assistants on Surface Pro 9 in the real world. Demos are uploaded at https://sites.google.com/view/evilharmony.

The attacker can generate adversarial examples (AEs) to stealthily mislead automatic speech recognition (ASR) models, raising significant concerns about the security of intelligent voice control (IVC) devices. Existing adversarial attacks mainly generate AEs to mislead ASR models to output specific target English commands (e.g., open the door). However, it remains unknown whether AEs can be used to issue commands in other languages to attack commercial black-box ASR models. In this article, taking Chinese phrases (e.g., 支付宝付款) and “Chinese–English code-switching” phrases (e.g., 关闭GPS) as the target commands, we propose adversarial attacks for commercial multilingual ASR models. In particular, if a multilingual speech recognition model can recognize Chinese and English, we call it a Chinese–English speech recognition model. In English, the meaning of “支付宝付款” and “关闭GPS” are “Alipay payment” and “turn off GPS”, respectively. In detail, we generate transferable AEs based on the open-sourced conventional DataTang Mandarin ASR model. Given 55 target commands, the success rate for generating AEs of them is up to 96% and 80% for Aliyun ASR API and Tencentyun ASR API, respectively. Our AEs can trigger actual attack actions on voice assistants (e.g., Apple Siri, Xiaomi Xiaoaitongxue) or spread malicious messages through ASR API services, while the target commands in the AEs are inaudible to human beings. 1 Finally, by analyzing the spectrum differences between benign audio clips and AEs, we propose a general defense against adversarial audio attacks.

While enjoying the great achievements brought by deep learning (DL), people are also worried about the decision made by DL models, since the high degree of non-linearity of DL models makes the decision extremely difficult to understand. Consequently, attacks such as adversarial attacks are easy to carry out, but difficult to detect and explain, which has led to a boom in the research on local explanation methods for explaining model decisions. In this paper, we evaluate the faithfulness of explanation methods and find that traditional tests on faithfulness encounter the random dominance problem, i.e., the random selection performs the best, especially for complex data. To further solve this problem, we propose three trend-based faithfulness tests and empirically demonstrate that the new trend tests can better assess faithfulness than traditional tests on image, natural language and security tasks. We implement the assessment system and evaluate ten popular explanation methods. Benefiting from the trend tests, we successfully assess the explanation methods on complex data for the first time, bringing unprecedented discoveries and inspiring future research. Downstream tasks also greatly benefit from the tests. For example, model debugging equipped with faithful explanation methods performs much better for detecting and correcting accuracy and security problems.

With the wide use of Automatic Speech Recognition (ASR) in applications such as human machine interaction, simultaneous interpretation, audio transcription, and so on, its security protection becomes increasingly important. Although recent studies have brought to light the weaknesses of popular ASR systems that enable out-of-band signal attack, adversarial attack, and so on, and further proposed various remedies (signal smoothing, adversarial training, etc.), a systematic understanding of ASR security (both attacks and defenses) is still missing, especially on how realistic such threats are and how general existing protection could be. In this article, we present our systematization of knowledge for ASR security and provide a comprehensive taxonomy for existing work based on a modularized workflow. More importantly, we align the research in this domain with that on security in Image Recognition System (IRS), which has been extensively studied, using the domain knowledge in the latter to help understand where we stand in the former. Generally, both IRS and ASR are perceptual systems. Their similarities allow us to systematically study existing literature in ASR security based on the spectrum of attacks and defense solutions proposed for IRS, and pinpoint the directions of more advanced attacks and the directions potentially leading to more effective protection in ASR. In contrast, their differences, especially the complexity of ASR compared with IRS, help us learn unique challenges and opportunities in ASR security. Particularly, our experimental study shows that transfer attacks across ASR models are feasible, even in the absence of knowledge about models (even their types) and training data.

Automated Guided Vehicles (AGVs) have been widely used for material handling in flexible shop floors. Each product requires various raw materials to complete the assembly in production process. AGVs are used to realize the automatic handling of raw materials in different locations. Efficient AGVs task allocation strategy can reduce transportation costs and improve distribution efficiency. However, the traditional centralized approaches make high demands on the control center’s computing power and real-time capability. In this paper, we present decentralized solutions to achieve flexible and self-organized AGVs task allocation. In particular, we propose two improved multi-agent reinforcement learning algorithms, MAD-DPG-IPF (Information Potential Field) and BiCNet-IPF, to realize the coordination among AGVs adapting to different scenarios. To address the reward-sparsity issue, we propose a reward shaping strategy based on information potential field, which provides stepwise rewards and implicitly guides the AGVs to different material targets. We conduct experiments under different settings (3 AGVs and 6 AGVs), and the experiment results indicate that, compared with baseline methods, our work obtains up to 47% task response improvement and 22% training iterations reduction.