arXiv:2604.03325v1 Announce Type: cross Abstract: Perception plays a central role in connected and autonomous vehicles (CAVs), underpinning not only conventional modular driving stacks, but also cooperative perception systems and recent end-to-end driving models. While deep learning has greatly improved perception performance, its statistical nature makes perfect predictions difficult to attain. Meanwhile, standard training objectives and evaluation benchmarks treat all perception errors equally, even though only a subset is safety-critical. In this paper, we investigate safety-aligned evaluation and optimization for 3D object detection that explicitly characterize high-impact errors. Building on our previously proposed safety-oriented metric, NDS-USC, and safety-aware loss function, EC-IoU, we make three contributions. First, we present an expanded study of single-vehicle 3D object detection models across diverse neural network architectures and sensing modalities, showing that gains under standard metrics such as mAP and NDS may not translate to safety-oriented criteria represented by NDS-USC. With EC-IoU, we reaffirm the benefit of safety-aware fine-tuning for improving safety-critical detection performance. Second, we conduct an ego-centric, safety-oriented evaluation of AV-infrastructure cooperative object detection models, underscoring its superiority over vehicle-only models and demonstrating a safety impact analysis that illustrates the potential contribution of cooperative models to "Vision Zero." Third, we integrate EC-IoU into SparseDrive and show that safety-aware perception hardening can reduce collision rate by nearly 30% and improve system-level safety directly in an end-to-end perception-to-planning framework. Overall, our results indicate that safety-aligned perception evaluation and optimization offer a practical path toward enhancing CAV safety across single-vehicle, cooperative, and end-to-end autonomy settings.

arXiv:2603.22934v1 Announce Type: new Abstract: Retrieval-Augmented Generation (RAG) improves the reliability of large language model applications by grounding generation in retrieved evidence, but it also introduces a new attack surface: corpus poisoning. In this setting, an adversary injects or edits passages so that they are ranked into the Top-$K$ results for target queries and then affect downstream generation. Existing defences against corpus poisoning often rely on content filtering, auxiliary models, or generator-side reasoning, which can make deployment more difficult. We propose ProGRank, a post hoc, training-free retriever-side defence for dense-retriever RAG. ProGRank stress-tests each query--passage pair under mild randomized perturbations and extracts probe gradients from a small fixed parameter subset of the retriever. From these signals, it derives two instability signals, representational consistency and dispersion risk, and combines them with a score gate in a reranking step. ProGRank preserves the original passage content, requires no retraining, and also supports a surrogate-based variant when the deployed retriever is unavailable. Extensive experiments across three datasets, three dense retriever backbones, representative corpus poisoning attacks, and both retrieval-stage and end-to-end settings show that ProGRank provides stronger defence performance and a favorable robustness--utility trade-off. It also remains competitive under adaptive evasive attacks.