ROSpace: Intrusion Detection Dataset for a ROS2-Based Cyber-Physical System

Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks are generated in dedicated attack sessions, without reproducing the realistic alternation and overlap of normal and attack actions. We present a dataset for intrusion detection by performing penetration testing on an embedded cyber-physical system built over Robot Operating System 2 (ROS2). Features are monitored from three architectural layers: the Linux operating system, the network, and the ROS2 services. The dataset is structured as a time series and describes the expected behavior of the system and its response to ROS2-specific attacks: it repeatedly alternates periods of attack-free operation with periods when a specific attack is being performed. Noteworthy, this allows measuring the time to detect an attacker and the number of malicious activities performed before detection. Also, it allows training an intrusion detector to minimize both, by taking advantage of the numerous alternating periods of normal and attack operations.

Ensembling Uncertainty Measures to Improve Safety of Black-Box Classifiers

Machine Learning (ML) algorithms that perform classification may predict the wrong class, experiencing misclassifications. It is well-known that misclassifications may have cascading effects on the encompassing system, possibly resulting in critical failures. This paper proposes SPROUT, a Safety wraPper thROugh ensembles of UncertainTy measures, which suspects misclassifications by computing uncertainty measures on the inputs and outputs of a black-box classifier. If a misclassification is detected, SPROUT blocks the propagation of the output of the classifier to the encompassing system. The resulting impact on safety is that SPROUT transforms erratic outputs (misclassifications) into data omission failures, which can be easily managed at the system level. SPROUT has a broad range of applications as it fits binary and multi-class classification, comprising image and tabular datasets. We experimentally show that SPROUT always identifies a huge fraction of the misclassifications of supervised classifiers, and it is able to detect all misclassifications in specific cases. SPROUT implementation contains pre-trained wrappers, it is publicly available and ready to be deployed with minimal effort.

On the Efficacy of Metrics to Describe Adversarial Attacks

Adversarial defenses are naturally evaluated on their ability to tolerate adversarial attacks. To test defenses, diverse adversarial attacks are crafted, that are usually described in terms of their evading capability and the L0, L1, L2, and Linf norms. We question if the evading capability and L-norms are the most effective information to claim that defenses have been tested against a representative attack set. To this extent, we select image quality metrics from the state of the art and search correlations between image perturbation and detectability. We observe that computing L-norms alone is rarely the preferable solution. We observe a strong correlation between the identified metrics computed on an adversarial image and the output of a detector on such an image, to the extent that they can predict the response of a detector with approximately 0.94 accuracy. Further, we observe that metrics can classify attacks based on similar perturbations and similar detectability. This suggests a possible review of the approach to evaluate detectors, where additional metrics are included to assure that a representative attack dataset is selected.

Prepare for Trouble and Make it Double. Supervised and Unsupervised Stacking for AnomalyBased Intrusion Detection

In the last decades, researchers, practitioners and companies struggled in devising mechanisms to detect malicious activities originating security threats. Amongst the many solutions, network intrusion detection emerged as one of the most popular to analyze network traffic and detect ongoing intrusions based on rules or by means of Machine Learners (MLs), which process such traffic and learn a model to suspect intrusions. Supervised MLs are very effective in detecting known threats, but struggle in identifying zero-day attacks (unknown during learning phase), which instead can be detected through unsupervised MLs. Unfortunately, there are no definitive answers on the combined use of both approaches for network intrusion detection. In this paper we first expand the problem of zero-day attacks and motivate the need to combine supervised and unsupervised algorithms. We propose the adoption of meta-learning, in the form of a two-layer Stacker, to create a mixed approach that detects both known and unknown threats. Then we implement and empirically evaluate our Stacker through an experimental campaign that allows i) debating on meta-features crafted through unsupervised base-level learners, ii) electing the most promising supervised meta-level classifiers, and iii) benchmarking classification scores of the Stacker with respect to supervised and unsupervised classifiers. Last, we compare our solution with existing works from the recent literature. Overall, our Stacker reduces misclassifications with respect to (un)supervised ML algorithms in all the 7 public datasets we considered, and outperforms existing studies in 6 out of those 7 datasets. In particular, it turns out to be more effective in detecting zero-day attacks than supervised algorithms, limiting their main weakness but still maintaining adequate capabilities in detecting known attacks.

Unsupervised Anomaly Detectors to Detect Intrusions in the Current Threat Landscape

Anomaly detection aims at identifying unexpected fluctuations in the expected behavior of a given system. It is acknowledged as a reliable answer to the identification of zero-day attacks to such extent, several ML algorithms that suit for binary classification have been proposed throughout years. However, the experimental comparison of a wide pool of unsupervised algorithms for anomaly-based intrusion detection against a comprehensive set of attacks datasets was not investigated yet. To fill such gap, we exercise seventeen unsupervised anomaly detection algorithms on eleven attack datasets. Results allow elaborating on a wide range of arguments, from the behavior of the individual algorithm to the suitability of the datasets to anomaly detection. We conclude that algorithms as Isolation Forests, One-Class Support Vector Machines and Self-Organizing Maps are more effective than their counterparts for intrusion detection, while clustering algorithms represent a good alternative due to their low computational complexity. Further, we detail how attacks with unstable, distributed or non-repeatable behavior as Fuzzing, Worms and Botnets are more difficult to detect. Ultimately, we digress on capabilities of algorithms in detecting anomalies generated by a wide pool of unknown attacks, showing that achieved metric scores do not vary with respect to identifying single attacks.