Suturing on Suturing
70Task Success RateClean
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| CleanPolicy Architecture=Diffusion Policy2026.06 | 70 | — | — | — | — | |
| RandomAttack Objective=Disruptive, Policy Architecture=Diffusion Policy2026.06 | 70 | 0.1 | 0.95 | 0.987 | — | |
| CleanPolicy Architecture=ACT2026.06 | 60 | — | — | — | — | |
| CleanPolicy Architecture=π02026.06 | 50 | — | — | — | — | |
| RandomAttack Objective=Disruptive, Policy Architecture=ACT2026.06 | 50 | 0.1 | 0.95 | 0.987 | — | |
| RandomAttack Objective=Disruptive, Policy Architecture=π02026.06 | 50 | 0.1 | 0.94 | 0.99 | — | |
| UAPAttack Objective=Disruptive, Policy Architecture=Diffusion Policy, Attack Mode=Offline Dataset Attack2026.06 | 30 | 0.1 | 0.97 | 0.988 | — | |
| UAPAttack Objective=Steering, Policy Architecture=Diffusion Policy, Attack Mode=Offline Dataset Attack2026.06 | 30 | 0.1 | 0.91 | 0.988 | 0 | |
| UAPAttack Objective=Disruptive, Policy Architecture=π0, Attack Mode=Offline Dataset Attack2026.06 | 20 | 0.1 | 0.97 | 0.991 | — | |
| UAPAttack Objective=Disruptive, Policy Architecture=ACT, Attack Mode=Offline Dataset Attack2026.06 | 10 | 0.1 | 0.97 | 0.987 | — | |
| UAPAttack Objective=Steering, Policy Architecture=π0, Attack Mode=Offline Dataset Attack2026.06 | 10 | 0.1 | 0.91 | 0.991 | 0.1 | |
| PGDAttack Objective=Disruptive, Policy Architecture=ACT, Attack Mode=Online Inference Attack2026.06 | 0 | 103.3 | 0.91 | 0.934 | — | |
| PGDAttack Objective=Disruptive, Policy Architecture=Diffusion Policy, Attack Mode=Online Inference Attack2026.06 | 0 | 4,841 | 0.91 | 0.925 | — | |
| PGDAttack Objective=Disruptive, Policy Architecture=π0, Attack Mode=Online Inference Attack2026.06 | 0 | 3,201 | 0.94 | 0.897 | — | |
| TPAAttack Objective=Disruptive, Policy Architecture=ACT, Attack Mode=Temporal Photometric Attack2026.06 | 0 | 4.2 | 0.95 | 0.994 | — | |
| TPAAttack Objective=Disruptive, Policy Architecture=Diffusion Policy, Attack Mode=Temporal Photometric Attack2026.06 | 0 | 17.8 | 0.94 | 0.987 | — | |
| TPAAttack Objective=Disruptive, Policy Architecture=π0, Attack Mode=Temporal Photometric Attack2026.06 | 0 | 7.7 | 0.81 | 0.989 | — | |
| UAPAttack Objective=Steering, Policy Architecture=ACT, Attack Mode=Offline Dataset Attack2026.06 | 0 | 0.1 | 0.9 | 0.987 | 0.1 | |
| PGDAttack Objective=Steering, Policy Architecture=ACT, Attack Mode=Online Inference Attack2026.06 | 0 | 110.8 | 0.91 | 0.939 | 0.2 | |
| PGDAttack Objective=Steering, Policy Architecture=Diffusion Policy, Attack Mode=Online Inference Attack2026.06 | 0 | 5,331 | 0.91 | 0.939 | -0.1 | |
| PGDAttack Objective=Steering, Policy Architecture=π0, Attack Mode=Online Inference Attack2026.06 | 0 | 3,332 | 0.94 | 0.902 | -0.3 | |
| TPAAttack Objective=Steering, Policy Architecture=ACT, Attack Mode=Temporal Photometric Attack2026.06 | 0 | 3.9 | 0.95 | 0.986 | 0.7 | |
| TPAAttack Objective=Steering, Policy Architecture=Diffusion Policy, Attack Mode=Temporal Photometric Attack2026.06 | 0 | 19.7 | 0.95 | 0.987 | 0.2 | |
| TPAAttack Objective=Steering, Policy Architecture=π0, Attack Mode=Temporal Photometric Attack2026.06 | 0 | 7.8 | 0.85 | 0.989 | 0.3 |