Sample-level Membership Inference on LIBERO Spatial
1AUCNLL
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| NLLModel=π0-fast2026.05 | 1 | 99.41 | 100 | 100 | |
| Agg.-NLLModel=π0-fast2026.05 | 1 | 100 | 100 | 100 | |
| Agg.-NLLModel=OpenVLA2026.05 | 1 | 100 | 100 | 100 | |
| Agg.-ConfModel=OpenVLA2026.05 | 1 | 100 | 100 | 100 | |
| Action-L1Model=OpenVLA2026.05 | 1 | 100 | 100 | 100 | |
| Action-MSEModel=OpenVLA2026.05 | 0.9998 | 98 | 100 | 100 | |
| Temp.-CurveModel=OpenVLA2026.05 | 0.9992 | 98 | 98 | 100 | |
| Temp.-SmoothModel=OpenVLA2026.05 | 0.9988 | 97 | 97 | 99 | |
| VLALeaks-MLPTarget Model=OpenVLA-oft2026.06 | 0.998 | — | 95.97 | — | |
| VLALeaks-RFTarget Model=OpenVLA-oft2026.06 | 0.9857 | — | 77.42 | — | |
| Action-L1Model=π0-fast2026.05 | 0.9804 | 98 | 98 | 98 | |
| Action-L1Model=π0-fast2026.05 | 0.9801 | 44.94 | 80.2 | 94.47 | |
| Action-MSEModel=π0-fast2026.05 | 0.9686 | 45.3 | 80.61 | 94.33 | |
| Action-MSEModel=π0-fast2026.05 | 0.9616 | 96 | 96 | 96 | |
| Action-L1Setting=Sample2026.05 | 0.9453 | 6.31 | 37.41 | 74.68 | |
| Action-L1Model=OpenVLA2026.05 | 0.9233 | 60.02 | 69.06 | 79.22 | |
| Action-MSEModel=OpenVLA2026.05 | 0.9222 | 60.63 | 70.2 | 79.89 | |
| Action-MSESetting=Sample2026.05 | 0.9115 | 8.82 | 42.67 | 72.26 | |
| SMITarget Model=OpenVLA-oft2026.06 | 0.9085 | — | 47.07 | — | |
| Flow-LossSetting=Sample2026.05 | 0.9041 | 6 | 30.04 | 56.64 | |
| Agg.-ConfModel=π0-fast2026.05 | 0.9016 | 70 | 73 | 76 | |
| ConfModel=OpenVLA2026.05 | 0.8377 | 4.26 | 16.82 | 38.18 | |
| NLLModel=OpenVLA2026.05 | 0.8166 | 4.52 | 16.11 | 36.2 | |
| ConfModel=π0-fast2026.05 | 0.7111 | 5.09 | 13.35 | 28.72 | |
| Temp.-CurveModel=π0-fast2026.05 | 0.6891 | 3 | 7 | 22 | |
| RIMTarget Model=OpenVLA-oft2026.06 | 0.6331 | — | 2.4 | — | |
| RINMTarget Model=OpenVLA-oft2026.06 | 0.5737 | — | 1.6 | — | |
| Agg.-Conf-FixModel=π0-fast2026.05 | 0.5673 | 10 | 11 | 19 | |
| Temp.-SmoothModel=π0-fast2026.05 | 0.5504 | 0 | 4 | 10 | |
| MaxR-imgTarget Model=OpenVLA-oft2026.06 | 0.53 | — | 1.7 | — | |
| MaxR-instTarget Model=OpenVLA-oft2026.06 | 0.5225 | — | 1.76 | — | |
| Flow-Loss-FixPromptSetting=Sample2026.05 | 0.5212 | 0.06 | 0.77 | 5.09 | |
| Conf-FixPromptModel=π0-fast2026.05 | 0.5151 | 0.47 | 1.69 | 6.8 | |
| LossTarget Model=OpenVLA-oft2026.06 | 0.5042 | — | 1.32 | — | |
| Min-k++Target Model=OpenVLA-oft2026.06 | 0.5028 | — | 1.28 | — | |
| Conf-FixPromptModel=OpenVLA2026.05 | 0.4996 | 0.07 | 0.95 | 4.85 | |
| Agg.-Conf-FixModel=OpenVLA2026.05 | 0.4824 | 1 | 1 | 8 | |
| Min-kTarget Model=OpenVLA-oft2026.06 | 0.4769 | — | 0.7 | — | |
| MaxR-despTarget Model=OpenVLA-oft2026.06 | 0.4723 | — | 0.56 | — |