Adversarial Attack on nuScenes (val)
62.6ASR (2.0m)AdvRoad
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| AdvRoadTarget Model=BEVDet-R502025.11 | 62.6 | 0.1472 | 55.6 | 42.7 | 23.3 | |
| AdvRoadTarget Model=BEVDet-SwinT2025.11 | 60.2 | 0.1337 | 56.3 | 47.6 | 28.8 | |
| AdvRoadTarget Model=BEVDet4D-R502025.11 | 49.1 | 0.1331 | 42.9 | 32.7 | 17.7 | |
| Real pictureTarget Model=BEVDet4D-R502025.11 | 45.1 | 0.2066 | 38.1 | 29 | 14.9 | |
| AdvRoadTarget Model=BEVFormer-R502025.11 | 44.5 | 0.0822 | 32.7 | 20.7 | 8.2 | |
| AdvRoadTarget Model=BEVDet4D-SwinT2025.11 | 39.1 | 0.137 | 35.1 | 27.8 | 15.7 | |
| AdvRoadTarget Model=BEVFormer-SwinT2025.11 | 37.3 | 0.0818 | 30.6 | 21 | 8.9 | |
| Real pictureTarget Model=BEVDet-R502025.11 | 30.4 | 0.2066 | 22.8 | 15.7 | 6.3 | |
| Real pictureTarget Model=BEVDet-SwinT2025.11 | 25.7 | 0.2066 | 19 | 12.1 | 4.9 | |
| Real pictureTarget Model=BEVDet4D-SwinT2025.11 | 23.4 | 0.2066 | 19.3 | 13.7 | 7.3 | |
| Real pictureTarget Model=BEVFormer-SwinT2025.11 | 20.9 | 0.126 | 16.6 | 10.4 | 4.3 | |
| RandomTarget Model=BEVDet-R502025.11 | 8 | 0.2136 | 4.9 | 2.9 | 0.8 | |
| Real pictureTarget Model=BEVFormer-R502025.11 | 6.3 | 0.126 | 3.5 | 1.8 | 0.7 | |
| RandomTarget Model=BEVDet4D-R502025.11 | 3.4 | 0.2137 | 1.9 | 1.2 | 0.3 | |
| RandomTarget Model=BEVDet-SwinT2025.11 | 1.7 | 0.2138 | 0.7 | 0.4 | 0.1 | |
| BenignTarget Model=BEVDet-R502025.11 | 1.5 | — | 0.3 | 0.1 | 0 | |
| BenignTarget Model=BEVFormer-SwinT2025.11 | 1.5 | — | 0.3 | 0 | 0 | |
| RandomTarget Model=BEVFormer-SwinT2025.11 | 1.5 | 0.1306 | 0.5 | 0.1 | 0 | |
| RandomTarget Model=BEVDet4D-SwinT2025.11 | 1.4 | 0.2136 | 0.3 | 0 | 0 | |
| BenignTarget Model=BEVFormer-R502025.11 | 1.4 | — | 0.3 | 0 | 0 | |
| RandomTarget Model=BEVFormer-R502025.11 | 1.4 | 0.1304 | 0.3 | 0 | 0 | |
| BenignTarget Model=BEVDet-SwinT2025.11 | 1.2 | — | 0.2 | 0 | 0 | |
| BenignTarget Model=BEVDet4D-R502025.11 | 1.2 | — | 0.1 | 0 | 0 | |
| BenignTarget Model=BEVDet4D-SwinT2025.11 | 1.2 | — | 0.3 | 0 | 0 |