Stealing Machine Learning Models via Prediction APIs

Florian TramèrFan ZhangAri JuelsMichael K. ReiterThomas Ristenpart

article2016USENIX Security Symposium2,203 citations

Demonstrates how adversaries can duplicate proprietary machine learning models with near-perfect fidelity simply by querying public prediction APIs, exposing critical intellectual property risks for commercial platforms like Amazon Machine Learning and BigML.

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Cloud-based predictive analytics services have expanded rapidly, allowing organizations to train machine learning models on proprietary data and monetize access by charging external users on a pay-per-query basis. This creates a critical conflict between business confidentiality and public accessibility. Confidential models often embody substantial commercial value, intellectual property, or sensitive training data, and their exposure can enable evasion of security systems like fraud or spam filters. The article evaluates this vulnerability by systematically demonstrating and measuring "model extraction attacks," where an external user steals the exact parameters or logic of a black-box model using standard prediction application programming interfaces (APIs).

The researchers assessed popular machine learning model types—including logistic regression, multilayer neural networks, support vector machines, and decision trees—across local benchmarks and live commercial platforms, specifically Amazon Machine Learning and BigML. To execute the extraction, the team developed two core techniques: non-adaptive equation-solving attacks for probability-generating models and adaptive path-finding algorithms for decision trees. The evaluation tested whether full models could be duplicated using public API features such as high-precision confidence values and support for incomplete feature queries.

The findings demonstrate that extracting models from current cloud services is highly effective, fast, and inexpensive. For linear and logistic regression models, an attacker can extract full model parameters with 100% fidelity using only a small set of queries (such as d+1 queries for a d-dimensional feature space), costing mere cents on commercial platforms. Multilayer neural networks were duplicated with greater than 99.9% accuracy using a modest query budget. For decision trees, leveraging confidence scores as pseudo-identifiers enabled complete path reconstruction, requiring fewer than 4,000 queries even on complex models. Furthermore, extracted models were shown to leak sensitive training data—including facial images and underlying distribution statistics—and could facilitate white-box privacy attacks at a fraction of the cost of direct querying.

These results show that existing API designs undermine the economic models of predictive cloud services and introduce substantial compliance and security risks. Countermeasures such as omitting confidence scores and returning only basic class labels increase the attacker's required query volume by up to 100-fold; however, adaptive retraining methods still allow attackers to recreate models with over 99% accuracy. Limiting confidence values to fewer decimal places degrades tree extraction but only marginally slows the extraction of regression models.

To mitigate these extraction risks, service providers and system operators should immediately evaluate API access policies. Recommended short-term actions include removing high-precision confidence scores where feasible, restricting incomplete queries, and implementing query-rate monitoring. Future development should explore parameter-level differential privacy and ensemble model architectures to harden systems against extraction. While these findings demonstrate high confidence across standard and production workloads, the article notes that reverse-engineering non-linear text transformations or complex feature engineering pipelines remains an ongoing area for practical analysis.

  • Paper: Intriguing properties of neural networks, Christian Szegedy et al. (2014). Provides foundational insights into the vulnerability of machine learning models to small perturbations, which underpins black-box model extraction techniques.
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Abstract

Machine learning (ML) models may be deemed confidential due to their sensitive training data, commercial value, or use in security applications. Increasingly often, confidential ML models are being deployed with publicly accessible query interfaces. ML-as-a-service ("predictive analytics") systems are an example: Some allow users to train models on potentially sensitive data and charge others for access on a pay-per-query basis.

The tension between model confidentiality and public access motivates our investigation of model extraction attacks. In such attacks, an adversary with black-box access, but no prior knowledge of an ML model's parameters or training data, aims to duplicate the functionality of (i.e., "steal") the model. Unlike in classical learning theory settings, ML-as-a-service offerings may accept partial feature vectors as inputs and include confidence values with predictions. Given these practices, we show simple, efficient attacks that extract target ML models with near-perfect fidelity for popular model classes including logistic regression, neural networks, and decision trees. We demonstrate these attacks against the online services of BigML and Amazon Machine Learning. We further show that the natural countermeasure of omitting confidence values from model outputs still admits potentially harmful model extraction attacks. Our results highlight the need for careful ML model deployment and new model extraction countermeasures.

Table of Contents

  • 1 Introduction
  • 2 Background
  • 3 Model Extraction Attacks
  • 4 Extraction with Confidence Values
  • 4.1 Equation-Solving Attacks
  • 4.1.1 Binary logistic regression
  • 4.1.2 Multiclass LRs and Multilayer Perceptrons
  • 4.1.3 Training Data Leakage for Kernel LR
  • 4.1.4 Model Inversion Attacks on Extracted Models
  • 4.2 Decision Tree Path-Finding Attacks
  • 4.2.1 Extraction Algorithms
  • 4.2.2 Attack Evaluation
  • 5 Online Model Extraction Attacks
  • 5.1 Case Study 1: BigML
  • 5.2 Case Study 2: Amazon Web Services
  • 5.3 Discussion
  • 6 Extraction Given Class Labels Only
  • 6.1 Linear Binary Models
  • 6.2 Multiclass LR Models
  • 6.3 Neural Networks
  • 6.4 RBF Kernel SVMs
  • 7 Extraction Countermeasures
  • 8 Related Work
  • 9 Conclusion
  • References
  • A Some Details on Models
  • B Details on Data Sets
  • C Analysis of the Path-Finding Algorithm
  • D A Note on Improper Extraction

Knowls

  1. Knowl 1 — Threat Model and Error Metrics for Model Extraction Attacks

    definition

    A model extraction attack occurs when an adversary A\mathcal{A} interacting with a black-box machine learning model f:X→Yf: \mathcal{X} \to \mathcal{Y} over a prediction API attempts to reconstruct an approximating model f^:X→Y\hat{f}: \mathcal{X} \to \mathcal{Y} using a sequence of qq prediction queries.

    Queries are categorized into:

    1. Direct queries: The adversary supplies arbitrary feature vectors x∈Xx \in \mathcal{X} and observes f(x)f(x).
    2. Indirect queries: The adversary supplies points MM in an raw input space M\mathcal{M} and observes f(ex(M))f(\text{ex}(M)), where ex:M→X\text{ex}: \mathcal{M} \to \mathcal{X} is a feature extraction function that may be unknown to A\mathcal{A}.

    The fidelity of an extracted model f^\hat{f} relative to the target ff is quantified by two primary error metrics under a distance function dYd_{\mathcal{Y}} on outputs:

    1. Test Error (RtestR_{\text{test}}): The average disagreement over a test dataset D⊂X×YD \subset \mathcal{X} \times \mathcal{Y} drawn from the training distribution: Rtest(f,f^)=1∣D∣∑(x,y)∈DdY(f(x),f^(x))R_{\text{test}}(f, \hat{f}) = \frac{1}{|D|} \sum_{(x, y) \in D} d_{\mathcal{Y}}(f(x), \hat{f}(x))

    2. Uniform Error (RunifR_{\text{unif}}): The average disagreement over a set UU of inputs sampled uniformly at random from the input domain X\mathcal{X}: Runif(f,f^)=1∣U∣∑x∈UdY(f(x),f^(x))R_{\text{unif}}(f, \hat{f}) = \frac{1}{|U|} \sum_{x \in U} d_{\mathcal{Y}}(f(x), \hat{f}(x))

    When evaluating class label predictions (y∈Zcy \in \mathbb{Z}_c), dYd_{\mathcal{Y}} is the 0-1 indicator distance d(y,y′)=0d(y, y') = 0 if y=y′y = y' and 11 otherwise. When evaluating continuous predicted class probability vectors y,y′∈[0,1]cy, y' \in [0, 1]^c, total variation distance is used: dTV(y,y′)=12∑i=0c−1∣y[i]−y′[i]∣d_{\text{TV}}(y, y') = \frac{1}{2} \sum_{i=0}^{c-1} |y[i] - y'[i]| with corresponding error metrics denoted RtestTV(f,f^)R^{\text{TV}}_{\text{test}}(f, \hat{f}) and RunifTV(f,f^)R^{\text{TV}}_{\text{unif}}(f, \hat{f}).

  2. Knowl 2 — Exact Parameter Extraction of Binary Logistic Regression via Equation Solving

    model/method

    For a binary logistic regression model f:Rd→[0,1]f: \mathbb{R}^d \to [0, 1] parameterized by weight vector w∈Rdw \in \mathbb{R}^d and bias β∈R\beta \in \mathbb{R}, the output class probability for class 1 on input x∈Rdx \in \mathbb{R}^d is given by the standard sigmoid function: f1(x)=σ(w⋅x+β)=11+e−(w⋅x+β)f_1(x) = \sigma(w \cdot x + \beta) = \frac{1}{1 + e^{-(w \cdot x + \beta)}}

    Applying the logit transformation (the inverse sigmoid σ−1\sigma^{-1}) to the confidence value f1(x)∈(0,1)f_1(x) \in (0, 1) yields a linear equation in the model parameters: w⋅x+β=σ−1(f1(x))=ln⁡(f1(x)1−f1(x))w \cdot x + \beta = \sigma^{-1}(f_1(x)) = \ln\left(\frac{f_1(x)}{1 - f_1(x)}\right)

    An adversary querying d+1d + 1 linearly independent inputs x(1),x(2),…,x(d+1)∈Rdx^{(1)}, x^{(2)}, \dots, x^{(d+1)} \in \mathbb{R}^d obtains a system of d+1d + 1 linear equations with d+1d + 1 unknowns (w1,…,wd,βw_1, \dots, w_d, \beta). Because the required query points can be chosen independently and uniformly at random, the entire query set can be submitted as a single non-adaptive batch request, recovering the exact parameters ww and β\beta up to floating-point numerical precision (Rtest=Runif=0R_{\text{test}} = R_{\text{unif}} = 0, RTV<10−9R^{\text{TV}} < 10^{-9}).

  3. Knowl 3 — Equation-Solving Extraction for Multiclass Logistic Regression and Multilayer Perceptrons

    model/method

    When a prediction API returns class probability vectors f(x)∈[0,1]cf(x) \in [0, 1]^c for models with a logistic output layer, model extraction reduces to solving a system of non-linear equations over model parameters.

    1. Multiclass Logistic Regression (Softmax and One-vs-Rest): A softmax model with cc classes maps an input x∈Rdx \in \mathbb{R}^d to probabilities: fi(x)=ewi⋅x+βi∑j=0c−1ewj⋅x+βj,i∈{0,…,c−1}f_i(x) = \frac{e^{w_i \cdot x + \beta_i}}{\sum_{j=0}^{c-1} e^{w_j \cdot x + \beta_j}}, \quad i \in \{0, \dots, c-1\} with k=c(d+1)k = c(d + 1) unknowns (wi∈Rd,βi∈Rw_i \in \mathbb{R}^d, \beta_i \in \mathbb{R}). Each query xx yields cc non-linear equations. Minimizing the regularized logistic loss via quasi-Newton optimization (such as BFGS) on kk non-adaptive random queries recovers the exact parameters (Rtest=Runif=0R_{\text{test}} = R_{\text{unif}} = 0) because the objective is strongly convex.

    2. Multilayer Perceptrons (MLPs): For a feedforward neural network with a single hidden layer of hh hidden units and activation function gg (e.g., tanh or σ\sigma), hidden activations are hi(x)=g(wi(1)⋅x+βi(1))h_i(x) = g(w_i^{(1)} \cdot x + \beta_i^{(1)}) and the output is a softmax layer over h(x)h(x). The total number of unknowns is k=d⋅h+h⋅c+h+ck = d \cdot h + h \cdot c + h + c. Solving the non-linear equation system using stochastic gradient descent on cross-entropy loss over non-adaptive batch queries achieves >99.9%>99.9\% agreement with 5⋅k5 \cdot k to 10⋅k10 \cdot k queries.

  4. Knowl 4 — Decision Tree Path-Finding Extraction Algorithm

    algorithm

    The path-finding attack extracts the exact structure and decision thresholds of a decision tree by exploiting the leaf confidence score returned by prediction APIs as a unique pseudo-identifier for each leaf path.

    Input: Leaf-identity oracle O:X→IDsO: \mathcal{X} \to \text{IDs}, precision parameter ϵ>0\epsilon > 0, feature space X=X1×⋯×Xd\mathcal{X} = X_1 \times \dots \times X_d
    Output: Dictionary PP mapping each discovered leaf ID to the set of bounding predicates on its path
    xinit←(x1,…,xd)∈Xx_{init} \leftarrow (x_1, \dots, x_d) \in \mathcal{X} chosen at random
    Q←{xinit}Q \leftarrow \{x_{init}\}
    P←{}P \leftarrow \{\}
    while QQ is not empty do
        x←Q.pop()x \leftarrow Q\text{.pop}()
        id←O(x)id \leftarrow O(x)
        if id∈Pid \in P then
            continue
        end if
        P[id]←∅P[id] \leftarrow \emptyset
        for i=1i = 1 to dd do
            if XiX_i is continuous with bounds [a,b][a, b] then
                intervals ←LineSearch(O,x,i,ϵ,[a,b])\leftarrow \text{LineSearch}(O, x, i, \epsilon, [a, b])
                for (α,β]∈intervals(\alpha, \beta] \in intervals do
                    if xi∈(α,β]x_i \in (\alpha, \beta] then
                        P[id]←P[id]∪{xi∈(α,β]}P[id] \leftarrow P[id] \cup \{x_i \in (\alpha, \beta]\}
                    else
                        x′←xx' \leftarrow x with feature ii set to β\beta
                        Q.push(x′)Q\text{.push}(x')
                    end if
                end for
            else
                S,V←CategorySplit(O,x,i,id)S, V \leftarrow \text{CategorySplit}(O, x, i, id)
                P[id]←P[id]∪{xi∈S}P[id] \leftarrow P[id] \cup \{x_i \in S\}
                for v∈Vv \in V do
                    x′←xx' \leftarrow x with feature ii set to vv
                    Q.push(x′)Q\text{.push}(x')
                end for
            end if
        end for
    end while
    return PP

    LineSearch performs binary search along dimension ii with all other features fixed to identify split thresholds tt rounded to granularity ϵ\epsilon, identifying all contiguous intervals leading to distinct leaf IDs. CategorySplit queries each categorical level v∈Xiv \in X_i to partition the categories into those staying in leaf idid (SS) versus representative values leading to alternative leaves (VV).

  5. Knowl 5 — Top-Down Decision Tree Extraction via Incomplete Queries

    model/method

    When a cloud prediction API supports incomplete queries (inputs where missing features are assigned a null symbol ⊥\perp), an adversary can extract decision trees top-down layer-by-layer rather than traversing paths from root to leaves.

    1. Oracle Semantics: The API evaluates x∈(X1∪{⊥})×⋯×(Xd∪{⊥})x \in (X_1 \cup \{\perp\}) \times \dots \times (X_d \cup \{\perp\}) by traversing the tree until it encounters a split on a feature xi=⊥x_i = \perp, returning the node identifier and prediction at that internal node or leaf.
    2. Traversal Strategy: Starting with the fully empty query (⊥,…,⊥)(\perp, \dots, \perp), the adversary identifies the root node. By testing features one by one, exactly one feature causes a state change, identifying the root's splitting feature. The splitting criterion (threshold for continuous features or category subset for categorical features) is extracted using line search or categorical queries.
    3. Recursive Descent: The algorithm fixes predicates satisfied along each explored branch and recurses downward on child nodes. By directly inspecting API response metadata (such as returned active field lists), this method eliminates redundant leaf searches, reducing query counts by 2×2\times to 10×10\times compared to leaf-only path finding and achieving 100% fidelity even in trees containing duplicate leaf IDs.
  6. Knowl 6 — Query Complexity of Decision Tree Extraction

    theoretical result

    Let TT be a decision tree over dcatd_{\text{cat}} categorical features (each of arity at most kk) and dcontd_{\text{cont}} continuous features with range [0,b][0, b]. Let mm be the number of leaves in TT, and let ϵ>0\epsilon > 0 be the threshold precision parameter for continuous split detection.

    Assuming each leaf has a unique identifier assigned by an oracle OO:

    1. For each of the mm leaves, all dd features are inspected.
    2. Finding a single continuous threshold via binary line search requires at most log⁡2(b/ϵ)\log_2(b / \epsilon) queries. Across all leaves, at most mm splits exist on any single continuous feature, requiring at most mlog⁡2(b/ϵ)m \log_2(b / \epsilon) queries per feature.
    3. Evaluating a categorical feature requires kk queries.

    The total query complexity of path-finding extraction is: O(m⋅(dcat⋅k+dcont⋅m⋅log⁡(b/ϵ)))\mathcal{O}\left(m \cdot \left(d_{\text{cat}} \cdot k + d_{\text{cont}} \cdot m \cdot \log(b / \epsilon)\right)\right)

    For Boolean trees (dcont=0,k=2d_{\text{cont}} = 0, k = 2), the query complexity is O(m⋅d)\mathcal{O}(m \cdot d). In contrast, classical membership-query algorithms operating strictly on class labels (e.g., Kushilevitz-Mansour) have complexity poly(d,2δ)\text{poly}(d, 2^{\delta}) where δ\delta is tree depth; since 2δ2^\delta can be exponential in mm for degenerate trees, confidence-based leaf identities provide an exponential speedup.

  7. Knowl 7 — Empirical Performance of Extraction Attacks on Commercial MLaaS Providers

    data/table

    Model extraction attacks evaluated against live cloud prediction APIs on Amazon Machine Learning and BigML achieved 100% functional equivalence (Rtest=Runif=0R_{\text{test}} = R_{\text{unif}} = 0) using small query budgets:

    Service Model Type Dataset Queries Time (s)
    Amazon Logistic Regression Digits 650 70
    Amazon Logistic Regression Adult 1,485 149
    BigML Decision Tree German Credit 1,150 631
    BigML Decision Tree Steak Survey 4,013 2,088

    The total attack execution time was dominated by network prediction latency (approximately 100 ms per query for Amazon and 500 ms per query for BigML). On Amazon, the monetary cost to steal models ranged between $0.03\$0.03 and $0.15\$0.15 at standard pricing ($0.0001\$0.0001 per prediction).

  8. Knowl 8 — Reverse-Engineering Pre-Processing and Quantile Binning Feature Transformations

    model/method

    When a cloud ML service applies proprietary input feature transformations ex:M→X\text{ex}: \mathcal{M} \to \mathcal{X} prior to feeding data into a classifier ff, direct equation solving in input space M\mathcal{M} is obstructed. On Amazon Machine Learning, default pipelines apply:

    1. One-Hot Encoding (OHE): Categorical input spaces Mi=Zk\mathcal{M}_i = \mathbb{Z}_k map to kk binary indicators in X\mathcal{X}.
    2. Quantile Binning: Continuous feature values in Mi=[a,b]\mathcal{M}_i = [a, b] are partitioned into kk data-dependent quantile bins mapped to kk binary indicators in X\mathcal{X}.

    An adversary reverse-engineers this pipeline by:

    • Performing binary line searches across the range of each numeric feature in input space M\mathcal{M} to detect points where the output probability exhibits a discontinuous derivative or step, revealing quantile bin cutoffs.
    • Exploiting missing feature handling: when an input query leaves a feature omitted, Amazon sets all corresponding binary features in X\mathcal{X} to zero. Querying inputs with only a single active feature isolates individual weights in X\mathcal{X}, reducing parameter recovery to decoupled single-variable equations.
  9. Knowl 9 — Accelerated Model Inversion and Training Data Leakage via Extracted Models

    empirical result

    Extracted models can be leveraged locally to recover sensitive training data faster and with fewer remote API queries than direct black-box attacks:

    1. Accelerated Model Inversion: Inverting a facial recognition softmax classifier (AT&T Faces, 40 classes, d=10,304d = 10,304, 412,160 unknown weights) directly via black-box gradient estimation requires ≈20,600\approx 20,600 queries per target identity (totaling ≈800,000\approx 800,000 online queries taking 16 hours for all 40 faces). Extracting an equivalent model f^\hat{f} via equation-solving required only 41,216 online queries (under 1 hour), after which white-box gradient-based model inversion was run locally, achieving visually indistinguishable facial reconstructions with 20×20\times fewer queries.

    2. Direct Training Data Leakage in Kernel Logistic Regression: For Kernel Logistic Regression models with RBF kernel K(x,x′)=exp⁡(−γ∥x−x′∥2)K(x, x') = \exp(-\gamma \|x - x'\|^2), outputs are given by fi(x)∝exp⁡(∑r=1sαi,rK(x,xr)+βi)f_i(x) \propto \exp(\sum_{r=1}^s \alpha_{i,r} K(x, x_r) + \beta_i), where x1,…,xsx_1, \dots, x_s are training representer points. Solving the non-linear equation system over {αi,r,βi,xr}\{\alpha_{i,r}, \beta_i, x_r\} directly recovers the exact training input vectors xrx_r (or class-average centroid images when ss is underestimated).

  10. Knowl 10 — Model Extraction on Label-Only Prediction APIs via Active Retraining

    model/method

    When prediction APIs omit confidence scores and return only discrete class labels Y=Zc\mathcal{Y} = \mathbb{Z}_c, equation-solving is inapplicable. Extraction can be achieved via active boundary retraining:

    1. Lowd-Meek Search: For binary linear classifiers (w⋅x+β>0w \cdot x + \beta > 0), line searches locate points on the decision boundary (w⋅x+β≈0w \cdot x + \beta \approx 0) to compute ww and β\beta. This requires ≈2,050\approx 2,050 queries on average (50×50\times more than equation-solving) and does not extend directly to multiclass or RBF kernel boundaries.
    2. Adaptive Retraining Algorithm: For multiclass logistic regression, SVMs, and neural networks, active learning iteratively refines a local surrogate f^\hat{f} over rr rounds with query budget mm:
      • In round 1, query m/rm/r points chosen uniformly at random and train initial f^\hat{f}.
      • In subsequent rounds 2,…,r2, \dots, r, sample candidate points and query the oracle on the m/rm/r points closest to the decision boundary of f^\hat{f} (points where predicted confidence is least certain).
      • Retrain f^\hat{f} on the accumulated dataset.

    For multiclass logistic regression, adaptive retraining with a query budget of 100⋅c(d+1)100 \cdot c(d + 1) (averaging ≈26,000\approx 26,000 queries) achieves over 99.9%99.9\% agreement (1−Rtest>0.9991 - R_{\text{test}} > 0.999).

  11. Knowl 11 — Impact of Confidence Score Truncation on Model Extraction

    empirical result

    Rounding class probabilities returned by prediction APIs to a fixed number of decimal places degrades equation-solving and path-finding attacks only at extreme rounding thresholds:

    1. Softmax Regression: Rounding class probabilities to 4 or 5 decimal places has zero effect on extraction error (Rtest≈0R_{\text{test}} \approx 0). Rounding to 3 decimal places slightly elevates extraction error, while rounding to 2 decimal places increases RtestR_{\text{test}} to ≈10−2\approx 10^{-2} at budget factor α=10\alpha = 10. However, even at 2 decimal places, truncated equation-solving outperforms active retraining on class labels alone.
    2. Decision Trees: For regression trees, continuous leaf predictions are unique, rendering output rounding ineffective. For classification trees, rounding confidence scores to 3 or 4 decimal places induces identifier collisions between distinct paths, severely reducing the discovery rate of path-finding algorithms; however, robust trees (e.g., IRS Tax Patterns) retain near 100% extraction fidelity until confidences are rounded to 2 decimal places.

Coverage note — None was omitted; all major attack formulations (equation solving, path finding, label-only active retraining), reverse-engineering pipelines, data leakage results, and countermeasure analyses were incorporated into standalone knowls.

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Citation

MLA
Tramèr, F., et al. “Stealing Machine Learning Models via Prediction APIs”. arXiv, 2016, http://arxiv.org/abs/1609.02943v2.
APA
Tramèr, F., Zhang, F., Juels, A., Reiter, M. K., & Ristenpart, T. (2016). Stealing Machine Learning Models via Prediction APIs. arXiv. http://arxiv.org/abs/1609.02943v2
Chicago
Tramèr, F., F. Zhang, A. Juels, M. K. Reiter, and T. Ristenpart. 2016. “Stealing Machine Learning Models via Prediction APIs”. arXiv. http://arxiv.org/abs/1609.02943v2.
Harvard
Tramèr, F. et al. (2016) “Stealing Machine Learning Models via Prediction APIs”, arXiv [Preprint]. Available at: http://arxiv.org/abs/1609.02943v2.
Vancouver
1. Tramèr F, Zhang F, Juels A, Reiter MK, Ristenpart T (2016) Stealing Machine Learning Models via Prediction APIs. arXiv

BibTeX

@article{tramer2016stealing,
  title = {Stealing Machine Learning Models via Prediction APIs},
  author = {Tramèr, Florian and Zhang, Fan and Juels, Ari and Reiter, Michael K. and Ristenpart, Thomas},
  year = {2016},
  journal = {arXiv},
  url = {http://arxiv.org/abs/1609.02943v2},
  eprint = {1609.02943}
}
Metadata:arXiv

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