Peg Insertion on VLA Backdoor Evaluation Tasks
99SRNone
Evaluation results
| Method | Links | ||
|---|---|---|---|
| NoneVLA Model=π02026.01 | 99 | — | |
| State BackdoorVLA Model=π02026.01 | 97.1 | 95.7 | |
| BadVLAVLA Model=π02026.01 | 95 | 74.5 | |
| NoneVLA Model=OpenVLA2026.01 | 94.3 | — | |
| State BackdoorVLA Model=OpenVLA2026.01 | 93.3 | 95.4 | |
| NoneVLA Model=SmolVLA2026.01 | 93.2 | — | |
| TrojanRobotVLA Model=π02026.01 | 92.6 | 70.7 | |
| BadVLAVLA Model=OpenVLA2026.01 | 91.6 | 73.5 | |
| TrojanRobotVLA Model=OpenVLA2026.01 | 91.5 | 60.9 | |
| State BackdoorVLA Model=SmolVLA2026.01 | 91 | 92.3 | |
| NoneVLA Model=DP2026.01 | 90.4 | — | |
| State BackdoorVLA Model=DP2026.01 | 89.2 | 94 | |
| TrojanRobotVLA Model=SmolVLA2026.01 | 88.5 | 56.8 | |
| BadVLAVLA Model=SmolVLA2026.01 | 87.5 | 71.3 | |
| TrojanRobotVLA Model=DP2026.01 | 86.3 | 63.5 | |
| BadVLAVLA Model=DP2026.01 | 85.1 | 75.4 | |
| NoneVLA Model=ACT2026.01 | 82.5 | — | |
| State BackdoorVLA Model=ACT2026.01 | 81.6 | 96.4 | |
| TrojanRobotVLA Model=ACT2026.01 | 80.2 | 58.4 | |
| BadVLAVLA Model=ACT2026.01 | 78.3 | 70.2 |