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ResearchFormerly WizWand

Robotic Manipulation on Simulator environment (CA, ASR)

100CATrojanRobot (Prime-P)
61.5271.5181.591.49Nov 18, 2024
Updated 7mo ago

Evaluation results

MethodLinks
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=Code as Policies2024.1110090
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=Code as Policies2024.1110090
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=Code as Policies2024.1110096
Clean baselineRBA scheme=w/o, Robotic Policy=Code as Policies2024.1197—
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=Code as Policies2024.119656
Clean baselineRBA scheme=w/o, Robotic Policy=ProgPrompt2024.1191—
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=Visual Programming2024.118777
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=ProgPrompt2024.118687
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=ProgPrompt2024.118590
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=ProgPrompt2024.118590
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=ProgPrompt2024.118327
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=Visual Programming2024.118393
Clean baselineRBA scheme=w/o, Robotic Policy=Visual Programming2024.1180—
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=Visual Programming2024.11803
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=Visual Programming2024.118080
TrojanRobot (Prime-P)RBA scheme=Ours (Prime-P), Robotic Policy=VoxPoser2024.117186
TrojanRobot (Prime-I)RBA scheme=Ours (Prime-I), Robotic Policy=VoxPoser2024.117181
Clean baselineRBA scheme=w/o, Robotic Policy=VoxPoser2024.1169—
CBARBA scheme=CBA [32], Robotic Policy=Visual Programming2024.116989
TrojanRobot (Vanilla scheme)RBA scheme=Vanilla scheme, Robotic Policy=VoxPoser2024.116964
CBARBA scheme=CBA [32], Robotic Policy=ProgPrompt2024.116682
TrojanRobot (Prime-S)RBA scheme=Ours (Prime-S), Robotic Policy=VoxPoser2024.116688
CBARBA scheme=CBA [32], Robotic Policy=VoxPoser2024.116383