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The robotics industry has seen rapid development in recent years due to the Corona Virus Disease 2019. With the development of sensors and smart devices, factories and enterprises have accumulated a large amount of data in their daily production, which creates extremely favorable conditions for robots to perform machine learning. However, in recent years, people’s awareness of data privacy has been increasing, leading to the inability to circulate data between different enterprises, resulting in the emergence of data silos. The emergence of federated learning provides a feasible solution to this problem, and the combination of federated learning and multi-robot systems can break down data silos and improve the overall performance of robots. However, as scholars have studied more deeply, they found that federated learning has very limited privacy protection. Therefore, how to protect data privacy from infringement remains an important issue. In this paper, we first give a brief introduction to the current development of multi-robot and federated learning; second, we review three aspects of privacy protection methods commonly used, privacy protection methods for multi-robot, and Other Problems Faced by Multi-robot Systems, focusing onmethod comparisons and challenges; and finally draw conclusions and predict possible future research directions. [ABSTRACT FROM AUTHOR]

Exchanging gradient is a widely used method in modern multinode machine learning system (e.g., distributed training, Federated Learning). Gradients and weights of model has been presumed to be safe to delivery. However, some studies have shown that gradient inversion technique can reconstruct the input images on the pixel level. In this study, we review the research work of data leakage by gradient inversion technique and categorize existing works into three groups: (i) Bias Attacks, (ii) Optimization-Based Attacks, and (iii) Linear Equation Solver Attacks. According to the characteristics of these algorithms, we propose one privacy attack system, i.e., Single-Sample Reconstruction Attack System (SSRAS). This system can carry out image reconstruction regardless of whether the label can be determined. It can extends gradient inversion attack from a fully connected layer with bias terms to attack a fully connected layer and convolutional neural network with or without bias terms. We also propose Improved R-GAP Alogrithm, which can utlize DLG algorithm to derive ground truth. Furthermore, we introduce Rank Analysis Index (RA-I) to measure the possible of whether the user's raw image data can be reconstructed. This rank analysis derive virtual constraints V i from weights. Compared with the most representative attack algorithms, this reconstruction attack system can recover a user's private training image with high fidelity and attack success rate. Experimental results also show the superiority of the attack system over some other state-of-the-art attack algorithms. [ABSTRACT FROM AUTHOR]

Exchanging gradient is a widely used method in modern multinode machine learning system (e.g., distributed training, Federated Learning). Gradients and weights of model has been presumed to be safe to delivery. However, some studies have shown that gradient inversion technique can reconstruct the input images on the pixel level. In this study, we review the research work of data leakage by gradient inversion technique and categorize existing works into three groups: (i) Bias Attacks, (ii) Optimization-Based Attacks, and (iii) Linear Equation Solver Attacks. According to the characteristics of these algorithms, we propose one privacy attack system, i.e., Single-Sample Reconstruction Attack System (SSRAS). This system can carry out image reconstruction regardless of whether the label can be determined. It can extends gradient inversion attack from a fully connected layer with bias terms to attack a fully connected layer and convolutional neural network with or without bias terms. We also propose Improved R-GAP Alogrithm, which can utlize DLG algorithm to derive ground truth. Furthermore, we introduce Rank Analysis Index (RA-I) to measure the possible of whether the user’s raw image data can be reconstructed. This rank analysis derive virtual constraints Vi from weights. Compared with the most representative attack algorithms, this reconstruction attack system can recover a user’s private training image with high fidelity and attack success rate. Experimental results also show the superiority of the attack system over some other state-of-the-art attack algorithms.