  As data are increasingly being stored in different silos and societies
becoming more aware of data privacy issues, the traditional centralized
training of artificial intelligence (AI) models is facing efficiency and
privacy challenges. Recently, federated learning (FL) has emerged as an
alternative solution and continue to thrive in this new reality. Existing FL
protocol design has been shown to be vulnerable to adversaries within or
outside of the system, compromising data privacy and system robustness. Besides
training powerful global models, it is of paramount importance to design FL
systems that have privacy guarantees and are resistant to different types of
adversaries. In this paper, we conduct the first comprehensive survey on this
topic. Through a concise introduction to the concept of FL, and a unique
taxonomy covering: 1) threat models; 2) poisoning attacks and defenses against
robustness; 3) inference attacks and defenses against privacy, we provide an
accessible review of this important topic. We highlight the intuitions, key
techniques as well as fundamental assumptions adopted by various attacks and
defenses. Finally, we discuss promising future research directions towards
robust and privacy-preserving federated learning.
