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Investigating Adversarial Robustness of Heterogeneous Cooperative Perception

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Heterogeneous cooperative perception (CP) enables connected vehicles with diverse sensor setups to share spatial awareness via compact feature maps, where receivers reconcile these maps using learned translation modules for fusion and inference. Prior attacks against CP in a homogeneous setting reveal that the data exchange introduces a critical attack surface: a single malicious agent can transmit crafted features that erase real objects from a neighbor's fused scene. Yet, it is widely hypothesized that heterogeneity naturally defends against these attacks, as the attacker lacks knowledge of

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