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We introduce BADCONTROL, the first backdoor attack against low-level controllers that uses physical triggers. The attack poisons operational data to implant a vulnerability that can be activated by an exogenous signal from the environment, such as a specific driving maneuver or adversarial road patches within autonomous driving applications. BADCON-TROL solves a constrained optimization problem by using a projected gradient ascent to modify the data, maximizing the frequency response of the controlled system at a target frequency. This method differs from backdoor attacks against Deep Learning (DL) and Reinforcement Learning (RL) models, which manipulate high-dimensional model inputs or reward functions. We additionally propose two defenses: one based on regularization and one based on robust optimization, to limit the worst-case amplification of trigger signals. This is achieved by converting infinite poisoning scenarios into a single, tractable optimization problem via a specialized mathematical transformation. We evaluate BADCONTROL on Proportional-Integral-Derivative (PID) and Linear-Quadratic-Regulator (LQR) controllers through simulations and physical experiments. In the adaptive cruise control scenario, we achieve a 100% crash rate, while in lane-keeping control, the backdoor causes the victim vehicle to steer 62% into the opposing lane, compared to 0% in both cases without a backdoor. By contrast, a state-of-the-art falsification framework for autonomous vehicles identifies only a single crash instance over 30 trials, underscoring its stealthiness. 

Cooperative perception (CP) enhances situational awareness of connected and autonomous vehicles by exchanging and combining messages from multiple agents. While prior work has explored adversarial integrity attacks that degrade detection accuracy, little is known about CP's robustness against attacks on timeliness (or availability), a safety-critical requirement for autonomous driving. In this paper, we present CP-FREEZER, the first latency attack that maximizes the computation delay of CP algorithms by injecting adversarial perturbation via V2V messages. Our attack resolves several unique challenges, including the non-differentiability of point cloud preprocessing, asynchronous knowledge of the victim’s input due to transmission delays, and uses a novel loss function that effectively maximizes the execution time of the CP pipeline. Extensive experiments show that CP-FREEZER increases end-to-end CP latency by over , pushing per-frame processing time beyond 3 seconds with a 100\% success rate on our real-world vehicle testbed. Our findings reveal a critical threat to the availability of CP systems, highlighting the urgent need for robust defenses. 

A<sc>bstract</sc> This paper presents a study of the charmless three-body decays$$ {B}_{(s)}^0\to {K}_{\mathrm{S}}^0{h}^{+}h{\prime}^{-} $$ $B_{\left(s\right)}^0\to K_S^0{h}^{+}h{\prime }^{-}$ (whereh⁽′⁾=π, K), using a sample ofppcollision data collected by the LHCb experiment during Runs 1 and 2 of the LHC, corresponding to an integrated luminosity of 9 fb⁻¹. The decay$$ {B}_s^0\to {K}_{\mathrm{S}}^0{K}^{+}{K}^{-} $$ $B_s^0\to K_S^0{K}^{+}{K}^{-}$ is observed for the first time, and the following ratios of branching fractions are measured:$$ {\displaystyle \begin{array}{l}\frac{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{K}^{+}{K}^{-}\right)}{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{\pi}^{+}{\pi}^{-}\right)}=0.578\pm 0.007\pm 0.017,\\ {}\frac{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{K}^{\pm }{K}^{\mp}\right)}{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{\pi}^{+}{\pi}^{-}\right)}=0.1363\pm 0.0035\pm 0.051,\\ {}\begin{array}{l}\frac{\mathcal{B}\left({B}_s^0\to {K}_{\mathrm{S}}^0{\pi}^{+}{\pi}^{-}\right)}{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{\pi}^{+}{\pi}^{-}\right)}=0.269\pm 0.011\pm 0.015\pm 0.008,\\ {}\frac{\mathcal{B}\left({B}_s^0\to {K}_{\mathrm{S}}^0{K}^{+}{K}^{-}\right)}{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{\pi}^{+}{\pi}^{-}\right)}=0.0303\pm 0.0041\pm 0.0025\pm 0.0009,\\ {}\frac{\mathcal{B}\left({B}_s^0\to {K}_{\mathrm{S}}^0{K}^{\pm }{\pi}^{\mp}\right)}{\mathcal{B}\left({B}^0\to {K}_{\mathrm{S}}^0{\pi}^{+}{\pi}^{-}\right)}=1.818\pm 0.021\pm 0.031\pm 0.056,\end{array}\end{array}} $$ $\begin{array}{c}\frac{B\left(B^0\to K_S^0{K}^{+}{K}^{-}\right)}{B\left(B^0\to K_S^0{\pi }^{+}{\pi }^{-}\right)}=0.578\pm 0.007\pm 0.017,\\ \frac{B\left(B^0\to K_S^0{K}^{\pm }{K}^{\mp }\right)}{B\left(B^0\to K_S^0{\pi }^{+}{\pi }^{-}\right)}=0.1363\pm 0.0035\pm 0.051,\\ \begin{array}{c}\frac{B\left(B_s^0\to K_S^0{\pi }^{+}{\pi }^{-}\right)}{B\left(B^0\to K_S^0{\pi }^{+}{\pi }^{-}\right)}=0.269\pm 0.011\pm 0.015\pm 0.008,\\ \frac{B\left(B_s^0\to K_S^0{K}^{+}{K}^{-}\right)}{B\left(B^0\to K_S^0{\pi }^{+}{\pi }^{-}\right)}=0.0303\pm 0.0041\pm 0.0025\pm 0.0009,\\ \frac{B\left(B_s^0\to K_S^0{K}^{\pm }{\pi }^{\mp }\right)}{B\left(B^0\to K_S^0{\pi }^{+}{\pi }^{-}\right)}=1.818\pm 0.021\pm 0.031\pm 0.056,\end{array}\end{array}$ where the uncertainties are statistical, systematic, and due to knowledge of the ratio of hadronisation fractions of the$$ {B}_s^0 $$ $B_s^0$ andB⁰mesons, respectively. 

The time-dependent $CP$ asymmetry in $B^0\to J/\psi \rho (770{)}^0$ decays is measured using proton-proton collision data corresponding to an integrated luminosity of $6{\mathrm{fb}}^{-1}$ , collected with the LHCb detector at a center-of-mass energy of 13 TeV during the years 2015–2018. The $CP$ -violation parameters for this process are determined to be $2{\beta }_{c\overline{c}d}^{\mathrm{eff}}=0.710\pm 0.084\pm 0.051\mathrm{rad}$ and $\left|\lambda \right|=1.019\pm 0.034\pm 0.024$ , where the first uncertainty is statistical and the second systematic. This constitutes the first observation of time-dependent $CP$ violation in $B^0\to J/\psi \rho (770{)}^0$ decays. Assuming approximate SU(3) flavor symmetry, these results are combined with the previous consistent LHCb measurement to set the most stringent constraint on the penguin contribution, $\mathrm{\Delta }{\varphi }_s$ , to the $CP$ -violating phase ${\varphi }_s$ in $B_s^0\to J/\psi \varphi \left(1020\right)$ decays, yielding $\mathrm{\Delta }{\varphi }_s=5.0\pm 4.6\mathrm{mrad}$ . 

Muon-electron universality is tested in $B^0\to K^{*0}{\ell }^{+}{\ell }^{-}$ decays, in the dilepton-invariant-mass region above the $\psi \left(2S\right)$ resonance. The analysis uses beauty mesons produced in proton-proton collisions recorded by the LHCb detector at center-of-mass energies of 7, 8, and 13 TeV, corresponding to an integrated luminosity of $9{\mathrm{fb}}^{-1}$ . The ratio of branching fractions between the muon and electron channels $R_{K^{*0}}$ is measured to be ${1.08}_{-0.12}^{+0.14}\left(\mathrm{stat}\right)\pm 0.07\left(\mathrm{syst}\right)$ for a dilepton-invariant-mass squared above $14.0{\mathrm{GeV}}^2/c^4$ , consistent with the standard model prediction. This result represents the most precise measurement of $R_{K^{*0}}$ in this region and the first such measurement performed at a hadron collider.