3D Object Detection on V2X-Sim
80.52AP@0.5Upper-bound
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Upper-boundInput perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 80.52 | 78.65 | |
| Upper-boundInput perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 80.52 | 78.65 | |
| Upper-boundInput perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 80.52 | 78.65 | |
| Upper-boundInput perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 80.52 | 78.65 | |
| GCPBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 75.8 | 74.96 | |
| GCPBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 75.58 | 74.28 | |
| GCPBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 75.51 | 74.69 | |
| GCPBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 75.23 | 74.02 | |
| CP-GuardBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 72.15 | 68.25 | |
| GCPBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 70.22 | 68.57 | |
| GCPBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 70.07 | 68.59 | |
| GCPBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 70.03 | 68.36 | |
| CP-GuardBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 69.88 | 65.55 | |
| GCPBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 69.77 | 68.2 | |
| Gated Late FusionBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 69.62 | 67.42 | |
| Gated Late FusionBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 69.42 | 66.82 | |
| Gated Late FusionBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 69.35 | 67.18 | |
| CP-GuardBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 69.25 | 64.55 | |
| Gated Late FusionBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 69.12 | 66.58 | |
| ROBOSACBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 68.68 | 64.82 | |
| CP-GuardBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 67.55 | 61.25 | |
| MADEBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 66.93 | 56.79 | |
| ROBOSACBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 66.26 | 62.38 | |
| MADEBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 65.8 | 57.26 | |
| ROBOSACBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 65.64 | 61.42 | |
| MADEBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 65.63 | 56.92 | |
| MADEBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 65.39 | 55.56 | |
| No DefenseBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 65.05 | 55.44 | |
| CP-GuardBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 64.55 | 58.25 | |
| Gated Late FusionBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 64.48 | 61.65 | |
| Gated Late FusionBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 64.35 | 61.62 | |
| Gated Late FusionBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 64.32 | 61.48 | |
| CP-GuardBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 64.15 | 56.95 | |
| ROBOSACBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 64.12 | 58.08 | |
| Gated Late FusionBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 64.08 | 61.32 | |
| CP-GuardBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 63.55 | 57.88 | |
| CP-GuardBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 62.15 | 54.25 | |
| ROBOSACBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 61.2 | 55.07 | |
| ROBOSACBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 61.02 | 53.87 | |
| ROBOSACBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 60.09 | 54.88 | |
| No DefenseBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 59.54 | 47.27 | |
| ROBOSACBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 59.08 | 51.14 | |
| No DefenseBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 55.92 | 42.91 | |
| No DefenseBAC Attack Intensity=Moderate, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 55.19 | 43.99 | |
| MADEBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 54.22 | 41.38 | |
| MADEBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 53.21 | 40.61 | |
| MADEBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 51.94 | 40.87 | |
| MADEBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 51.04 | 36.25 | |
| No DefenseBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.12025.01 | 47.82 | 32.55 | |
| No DefenseBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.12025.01 | 41.85 | 23.24 | |
| No DefenseBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=0.5, Output perturbation budget (delta_o)=0.52025.01 | 35.63 | 25.35 | |
| No DefenseBAC Attack Intensity=Intense, Input perturbation budget (delta_i)=1.0, Output perturbation budget (delta_o)=0.52025.01 | 33.4 | 17.98 |