Sample-level Membership Inference on LIBERO Goal
100AUCAgg.-NLL
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Agg.-NLLModel=π0-fast2026.05 | 100 | 100 | 100 | 100 | |
| Agg.-NLLModel=OpenVLA2026.05 | 100 | 100 | 100 | 100 | |
| Agg.-ConfModel=OpenVLA2026.05 | 100 | 100 | 100 | 100 | |
| Action-L1Model=OpenVLA2026.05 | 100 | 100 | 100 | 100 | |
| NLLModel=π0-fast2026.05 | 99.99 | 99.62 | 99.98 | 100 | |
| Action-MSEModel=OpenVLA2026.05 | 99.93 | 98 | 99 | 99 | |
| Temp.-CurveModel=OpenVLA2026.05 | 99.79 | 93 | 97 | 99 | |
| Agg.-ConfModel=π0-fast2026.05 | 99.71 | 95 | 96 | 98 | |
| Temp.-SmoothModel=OpenVLA2026.05 | 99.68 | 92 | 94 | 98 | |
| Action-L1Model=π0-fast2026.05 | 98.54 | 21.24 | 87.22 | 96.01 | |
| Action-MSEModel=π0-fast2026.05 | 98.03 | 24.57 | 84.6 | 95.33 | |
| Action-L1Model=π0-fast2026.05 | 96.15 | 96 | 96 | 96 | |
| Action-MSEModel=π0-fast2026.05 | 96.07 | 93 | 95 | 96 | |
| Action-L1Setting=Sample2026.05 | 94.81 | 10.62 | 47.66 | 76.41 | |
| Action-L1Model=OpenVLA2026.05 | 92.07 | 52.5 | 69.9 | 79.36 | |
| Action-MSEModel=OpenVLA2026.05 | 91.84 | 44.86 | 70.35 | 79.8 | |
| Action-MSESetting=Sample2026.05 | 90.64 | 12.3 | 49.72 | 72.86 | |
| Flow-LossSetting=Sample2026.05 | 89.14 | 8.41 | 30.23 | 52.87 | |
| ConfModel=OpenVLA2026.05 | 84.1 | 4.94 | 17.12 | 42.29 | |
| NLLModel=OpenVLA2026.05 | 79.27 | 1.14 | 8.35 | 27.55 | |
| ConfModel=π0-fast2026.05 | 78.96 | 3.62 | 14.8 | 35.82 | |
| Temp.-CurveModel=π0-fast2026.05 | 74.75 | 15 | 15 | 21 | |
| Agg.-Conf-FixModel=π0-fast2026.05 | 72.52 | 5 | 16 | 32 | |
| Temp.-SmoothModel=π0-fast2026.05 | 65.83 | 9 | 9 | 16 | |
| Conf-FixPromptModel=π0-fast2026.05 | 56.18 | 0.5 | 3.01 | 9.64 | |
| Flow-Loss-FixPromptSetting=Sample2026.05 | 52.6 | 0.01 | 1.01 | 5.39 | |
| Conf-FixPromptModel=OpenVLA2026.05 | 50.06 | 0.1 | 0.82 | 4.67 | |
| Agg.-Conf-FixModel=OpenVLA2026.05 | 47.74 | 0 | 4 | 7 |