Robot Navigation on TurtleBot3 (real-world deployment)
93.4CSR (%)Clean TRPO (no attack)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Clean TRPO (no attack)Victim Policy=TRPO, Poisoning Budget=0%2026.01 | 93.4 | — | |
| Clean PPO (no attack)Victim Policy=PPO, Attack=None, Control Stack Configuration=safety-constrained2026.01 | 91.1 | — | |
| DGBAVictim Policy=TRPO, Poisoning Budget=5%2026.01 | 90.7 | 76.3 | |
| DGBAVictim Policy=PPO, Poisoning Budget=5%, Control Stack Configuration=safety-constrained2026.01 | 89.1 | 83.5 | |
| SleeperNetsVictim Policy=PPO, Poisoning Budget=5%, Control Stack Configuration=safety-constrained2026.01 | 88.7 | 21.3 | |
| BadRLVictim Policy=TRPO, Poisoning Budget=5%2026.01 | 88.2 | 46.5 | |
| SleeperNetsVictim Policy=TRPO, Poisoning Budget=5%2026.01 | 87.9 | 11.9 | |
| BadRLVictim Policy=PPO, Poisoning Budget=5%, Control Stack Configuration=safety-constrained2026.01 | 87.3 | 57 | |
| TrojDRLVictim Policy=PPO, Poisoning Budget=5%, Control Stack Configuration=safety-constrained2026.01 | 85.6 | 34.5 | |
| TrojDRLVictim Policy=TRPO, Poisoning Budget=5%2026.01 | 82.5 | 43.9 |