Sparse Coding Frontend for Robust Neural Networks

This repository is the official implementation of "Sparse Coding Frontend for Robust Neural Networks" paper published in ICLR 2021 Workshop on Security and Safety in Machine Learning Systems. If you have questions you can contact canbakiskan@ucsb.edu.

Requirements

Install the requirements:

pip install -r requirements.txt

Then add current directory to $PYTHONPATH:

export PYTHONPATH="${PYTHONPATH}:/path/containing/project/directory"

Download Imagenette here, and place in the data/original_dataset/. Then extract it using tar -xvzf imagenette2-160.tgz. CIFAR10 will be downloaded automatically when the code is run.

Following commands assume the name of the folder is sparse_coding_frontend.

Configuration Files

config.toml and parameters.py contain the hyperparameters and other configuration settings related to the project. Settings that change less frequently are stored in config.toml. Settings that change more frequently are stored in parameters.py and can be specified as command line arguments when any python file is run.

When a file (dictionary, checkpoint, attack) is saved, all the relevant settings are encoded into the name of the file.

The default dataset is CIFAR10, if you would like to change the dataset, comment out the relevant lines in config.toml.

Dictionary Learning

To learn the overcomplete dictionary, run:

python -m sparse_coding_frontend.src.learn_patch_dict

The relevant parameters for dictionary learning are all listed in config.toml under the dictionary table. Learnt dictionaries for CIFAR10, Imagenet and Imagenette are already present in the repository under data/dictionaries/{dataset}.

Shell Scripts

To reproduce the results in Table 1 of the paper, you can run the bash scripts located in the shell_scripts directory. Use scripts in by_defense if you want to reproduce rows, use scripts in by_attack if you want ro reproduce columns (after running train.sh).

Pre-trained Models

You can find pretrained models inside the checkpoints directory.

Ablation

For ablation the following cases are considered and implemented:

1. Default defense with T=1,2,5,10,20,50
2. Default defense (T=15) without activation
3. Default defense without top_T operation (essentially T=500) and without activation (otherwise it doesn't converge)
4. Default defense (T=15) without the decoder (encoder outputs fed into ResNet widened at the first layer)
5. Default defense (T=15) without the overcomplete dictionary (learnable weights instead)
6. Default defense (T=15) using DCT basis instead of the overcomplete basis

Run the corresponding bash script in shell_scripts/ablation to reproduce.

Complete List of Settings/Hyperparameters

General Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
save_checkpoint	config.toml	true	bool	Whether to save checkpoint after training
seed	config.toml	2021	int	Seed for random generator
use_gpu	config.toml	true	bool	Whether to use Nvidia GPU or run everything on the CPU

Dataset Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
img_shape	config.toml	[32, 32, 3]	[x,x,3]	Height x Width x Channel
name	config.toml	"CIFAR10"	"CIFAR10", "Imagenet", "Imagenette", "Tiny-ImageNet"	Name of the dataset
nb_classes	config.toml	10	int	Number of classes in the dataset

Dictionary Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
batch_size	config.toml	5	int	Batch size when learning the dictionary
display	config.toml	false	bool	Whether to save a plot of first 100 dictionary atoms
iter	config.toml	1000	int	Number of iterations in dictionary learning optimization
lamda	config.toml	1.0	float	Coefficient in front of L1 norm of code, see https://scikit-learn.org/stable/modules/generated/sklearn.decomposition.MiniBatchDictionaryLearning.html
nb_atoms	config.toml	500	int	Number of atoms in the dictionary
online	config.toml	false	bool	Whether to use online learning. If true, memory footprint is small but it takes a very long time.
type	config.toml	"overcomplete"	"overcomplete","dct"	Type of dictionary. Overcomplete is the default case, DCT is used for ablation

Defense Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
activation_beta	config.toml	3.0	float	Threshold of the activation function = beta*assumed_budget
assumed_budget	config.toml	0.03137254901	float	Threshold of the activation function = beta*assumed_budget
dropout_p	parameters.py	0.95	float	If dropout is used in the encoder, probability of dropping coefficients
frontend_arch	parameters.py	"top_T_activation_frontend"	"top_T"? + "dropout"? + "activation"? + "noisy"? + {"", "small", "deep", "resize", "identity"} + "frontend" where ? means presence or absence	Contains all the operations that are part of the encoder and the decoder type
patch_size	config.toml	4	int	Spatial size of the patches usually 4 for CIFAR10, 8 for Imagenet(te)
stride	config.toml	2	int	Stride while extracting patches
test_noise_gamma	parameters.py	0.0	float	If the encoder is noisy, what is the coefficient in front of uniform test noise. Noise = gamma * assumed_budget * U[-1,1]
top_T	parameters.py	15	int	How many top coefficients to keep, if top T taking operation is part of the encoder
train_noise_gamma	parameters.py	100.0	float	If the encoder is noisy, what is the coefficient in front of uniform train noise. Noise = gamma * assumed_budget * U[-1,1]

Neural-net Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
classifier_arch	parameters.py	"resnet"	"resnet","resnetwide","efficientnet","preact_resnet", "dropout_resnet", "resnet_after_encoder"	"resnet":ResNet-32, "resnetwide":x10 wider version of ResNet-32, "efficientnet": EfficientNet-B0, "preact_resnet": preactivation ResNet-101, "dropout_resnet": ResNet-32 with dropout after the first layer (for ablation), "resnet_after_encoder": ResNet-32 with 500 filters right after encoder (for ablation)
epochs	parameters.py	70	int	Number of training epochs
no_frontend	parameters.py	false	bool	Whether to have no frontend (for benchmarks)
optimizer.lr	parameters.py	0.01	float	Learning rate
optimizer.lr_scheduler	parameters.py	"cyc"	"cyc","mult","step"	Learning rate scheduler. "cyc":cylic, "mult": multiplicative, "step": x0.1 every 50th epoch
optimizer.momentum	config.toml	0.9	float	Coefficient of momentum, if optimizer uses it
optimizer.name	config.toml	"sgd"	"sgd","adam","rms"	"sgd": SGD, "adam": ADAM, "rms": RMSProp
optimizer.weight_decay	config.toml	0.0005	float	L2 regularizer coefficient
optimizer.cyclic.lr_max	parameters.py	0.02	float	Maximum learning rate if cyclic learning rate is used
optimizer.cyclic.lr_min	config.toml	0.0	float	Minumum learning rate if cyclic learning rate is used
save_checkpoint	config.toml	true	bool	Whether to save the trained model as a checkpoint
test_batch_size	config.toml	100	int	Inference batch size
train_batch_size	config.toml	64	int	Training batch size

Adversarial Training Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
budget	config.toml	0.03137254901	float	Attack budget epsilon, in adversarial training
EOT_size	config.toml	10	int	If EOT is used, number of gradients to average over, in adversarial training
method	parameters.py	"PGD"	PGD_EOT","PGD_smooth","FGSM","RFGSM","PGD","PGD_EOT","PGD_EOT_normalized","PGD_EOT_sign","CWlinf_EOT", "CWlinf_EOT_normalized","CWlinf"	Attack method
nb_restarts	config.toml	1	int	If a variant of PGD or CWlinf is used number of random restarts, in adversarial training
nb_steps	config.toml	10	int	Number of attack steps, in adversarial training
norm	config.toml	"inf"	"inf",int	Attack norm (p in L^p), in adversarial training
rand	config.toml	true	bool	Whether to use random restarts, in adversarial training. Defaults to true if nb_restarts>1
rfgsm_alpha	config.toml	0.03921568627	float	Alpha in RFGSM
step_size	config.toml	0.00392156862	float	Attack step size delta, in adversarial training

Adversarial Testing (Attack) Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
activation_backward	parameters.py	"smooth"	"smooth","identity"	If activation is used in the encoder, what should the backward pass approximation be
activation_backward_steepness	parameters.py	4.0	float	If activation_backward=smooth, how smooth the approximation should be (higher less smooth)
budget	parameters.py	0.03137254901960784	float	Attack budget epsilon
dropout_backward	parameters.py	"default"	"identity","default"	If dropout is used in the encoder, what should the backward pass be
EOT_size	parameters.py	40	int	If EOT is used in the attack, number of gradients to average over
method	parameters.py	"PGD"	PGD_EOT","PGD_smooth","FGSM","RFGSM","PGD","PGD_EOT","PGD_EOT_normalized","PGD_EOT_sign","CWlinf_EOT", "CWlinf_EOT_normalized", "CWlinf", "transfer", "boundary", "hopskip", "genattack"	Attack method
nb_imgs	config.toml	-1	uint,-1	Number of test images to process
nb_restarts	parameters.py	100	int	If a variant of PGD or CWlinf is used number of random restarts
nb_steps	parameters.py	40	int	Number of attack steps
norm	parameters.py	"inf"	"inf",int	Attack norm (p in L^p)
progress_bar	config.toml	true	bool	Whether to show progess bar in the command line while attacking
rand	parameters.py	true	bool	Whether to use random restarts. Defaults to true if nb_restarts>1
rfgsm_alpha	config.toml	0.03921568627	float	Alpha in RFGSM
save	config.toml	true	bool	Whether to save the generated attack
skip_clean	config.toml	false	bool	Whether to display clean accuracy before attacking
step_size	parameters.py	0.00392156862745098	float	Attack step size delta
top_T_backward	parameters.py	"top_U"	"default", "top_U"	If top T operation is used in the encoder, what should the backward pass be. "top_U" means gradients are propagated through top U coefficients
top_U	parameters.py	30	int	If top_T_backward="top_U", the value of U
transfer_file	parameters.py	None	filepath	If attack.method="transfer", which attack file to apply

Ablation Related Settings/Hyperparameters

Setting	Location	Default value	Choices	Help
no_dictionary	config.toml	false	bool	Whether to use learnable parameters instead of the dictionary in the encoder (ablation)

Decoding File Names

Folder Structure

Repository structure is as follows:

Repository
│   LICENSE
│   README.md
│   requirements.txt            Required python libraries to run codes
│	
└───checkpoints                 Saved checkpoints
│   │ 
│   └───classifiers  
│   │   └───CIFAR10  
│   │   └───Imagenet  
│   │   └───Imagenette  
│   │   └───Tiny-ImageNet
│   │   
│   └───frontends        
│       └───CIFAR10  
│       └───Imagenet  
│       └───Imagenette  
│       └───Tiny-ImageNet
│	
└───data
│   │ 
│   └───attacked_datasets       Saved attacks
│   │   └───CIFAR10  
│   │   └───Imagenet  
│   │   └───Imagenette  
│   │   └───Tiny-ImageNet
│   │
│   └───dictionaries            Saved dictionaries
│   │   └───CIFAR10  
│   │   └───Imagenet  
│   │   └───Imagenette  
│   │   └───Tiny-ImageNet
│   │
│   └───image_distances         Saved test image L2 distances to one another (for blackbox attack initialization)
│   │   └───CIFAR10  
│   │   └───Imagenet  
│   │   └───Imagenette  
│   │   └───Tiny-ImageNet
│   │
│   └───original_datasets       
│       └───CIFAR10  
│       └───Imagenet  
│       └───Imagenette  
│       └───Tiny-ImageNet
│	
└───figs
│	
└───logs
│	
└───src     
    │   config.toml                          Less frequently changing settings
    │   find_img_distances.py                Find closest images for decision boundary attack
    │   learn_patch_dict.py                  Sparse dictionary learning
    │   parameters.py                        Frequently changing settings
    │   run_attack.py                        Evaluate attacks on models
    │   run_attack_foolbox.py                Similar to run_attack, with foolbox
    │   train_test_functions.py              Train/test helper functions
    │   train.py                             Trains the classifier and the frontend
    │
    │───models
    │   │   bpda.py 	                     Backward pass differentiable approximation implementations
    │   │   combined.py                      Model that combines frontend and classifier
    │   │   decoders.py                      Different decoder definitions
    │   │   efficientnet.py                  EfficientNet definition
    │   │   encoder.py                       Different encoder definitions
    │   │   frontend.py 	                 Different frontend definitions
    │   │   preact_resnet.py                 Pre-activation ResNet definition
    │   │   resnet.py                        ResNet and Wide ResNet definition
    │   │   tools.py                         Tools/functions used in models
    │   │
    │   └───ablation
    │       │   dct_generate                 To generate DCT basis
    │       │   dropout_resnet.py            ResNet with dropout in the first layer
    │       │   resnet_after_encoder.py      ResNet with 500 filters in the first layer
    │       │   sparse_frontend.py           Sparse frontend definition
    │
    └───plotting
    │   │   accuracy_vs_eps.py               Plots accuracy vs attack budget
    │   │   activation_bpda.py               Plots activation backward approximations
    │   │   correlataion_plot.py             Plots first layer outputs of different models
    │   │   dct_hist.py                      will be removed 
    │   │   loss_landscape.py                Plots loss landscapes
    │   │   plot_attacks.py                  Plots generated attacks
    │
    └───shell_scripts
    │   │ 
    │   └───ablation                         See Ablation section above
    │   │   │   1.sh                         
    │   │   │   2.sh
    │   │   │   3.sh
    │   │   │   4.sh
    │   │   │   5.sh
    │   │   │   6.sh
    │   │   │   base_commands.sh             Helper for other scripts
    │   │   
    │   └───by_attack
    │   │   │   boundary.sh                  Runs boundary attack on all models
    │   │   │   defense_args.sh              Helper for other scripts
    │   │   │   L1.sh                        Runs L1 PGD attack on all models
    │   │   │   L2.sh                        Runs L2 PGD attack on all models
    │   │   │   Linf_CW.sh                   Runs Linf Carlini Wagner PGD attack on all models
    │   │   │   Linf.sh                      Runs Linf Carlini Wagner PGD attack on all models
    │   │   │   train.sh                     Trains all models
    │   │   
    │   └───by_defense
    │       │   base_commands.sh             Helper for other scripts
    │       │   natural.sh                   Trains and attacks vanilla ResNet-32
    │       │   our_defense.sh               Trains and attacks model with our defense
    │       │   PGD_AT.sh                    Trains and attacks adversarially trained with PGD
    │       │   TRADES.sh                    Trains and attacks adversarially trained with TRADES
    │
    └───utils
        │   get_modules.py                   Reads and loads checkpoints, dictionaries
        │   get_optimizer_scheduler.py       Returns optimizer and scheduler              
        │   namers.py                        Constructs appropriate name for checkpoints, dictionaries, attacks
        │   plot_settings.py                 Helper for pretty plots
        │   powerset.py                      Generates power set of list
        │   read_datasets.py                 Reads and returns datasets

License

Apache License 2.0