Robotic Manipulation on Simulator environment (CA, ASR)
100CATrojanRobot (Prime-P)
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=Code as Policies2024.11 | 100 | 90 | |
| TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=Code as Policies2024.11 | 100 | 90 | |
| TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=Code as Policies2024.11 | 100 | 96 | |
| Clean baselineRBA scheme=w/o, Robotic Policy=Code as Policies2024.11 | 97 | — | |
| TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=Code as Policies2024.11 | 96 | 56 | |
| Clean baselineRBA scheme=w/o, Robotic Policy=ProgPrompt2024.11 | 91 | — | |
| TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=Visual Programming2024.11 | 87 | 77 | |
| TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=ProgPrompt2024.11 | 86 | 87 | |
| TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=ProgPrompt2024.11 | 85 | 90 | |
| TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=ProgPrompt2024.11 | 85 | 90 | |
| TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=ProgPrompt2024.11 | 83 | 27 | |
| TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=Visual Programming2024.11 | 83 | 93 | |
| Clean baselineRBA scheme=w/o, Robotic Policy=Visual Programming2024.11 | 80 | — | |
| TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=Visual Programming2024.11 | 80 | 3 | |
| TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=Visual Programming2024.11 | 80 | 80 | |
| TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=VoxPoser2024.11 | 71 | 86 | |
| TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=VoxPoser2024.11 | 71 | 81 | |
| Clean baselineRBA scheme=w/o, Robotic Policy=VoxPoser2024.11 | 69 | — | |
| CBARBA scheme=CBA [32], Robotic Policy=Visual Programming2024.11 | 69 | 89 | |
| TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=VoxPoser2024.11 | 69 | 64 | |
| CBARBA scheme=CBA [32], Robotic Policy=ProgPrompt2024.11 | 66 | 82 | |
| TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=VoxPoser2024.11 | 66 | 88 | |
| CBARBA scheme=CBA [32], Robotic Policy=VoxPoser2024.11 | 63 | 83 |