TAKO demonstrates real-time adversarial takeover of robotic diffusion policies via reusable universal patches on visual inputs, achieving 100% success in steering attacker-chosen trajectories across multiple tasks, encoders, and diffusion methods.
How Vulnerable Is My Learned Policy? Universal Adversarial Perturbation Attacks On Modern Behavior Cloning Policies
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abstract
Learning from demonstrations is a popular approach to train AI models; however, their vulnerability to adversarial attacks remains underexplored. We present the first systematic study of adversarial attacks, across a range of both classic and recently proposed imitation learning algorithms, including Vanilla Behavior Cloning (Vanilla BC), LSTM-GMM, Implicit Behavior Cloning (IBC), Diffusion Policy (DP), and Vector-Quantized Behavior Transformer (VQ-BET). We study the vulnerability of these methods to both white-box, grey-box and black-box adversarial perturbations. Our experiments reveal that most existing methods are highly vulnerable to these attacks, including black-box transfer attacks that transfer across algorithms. To the best of our knowledge, we are the first to study and compare the vulnerabilities of different popular imitation learning algorithms to both white-box and black-box attacks. Our findings highlight the vulnerabilities of modern imitation learning algorithms, paving the way for future work in addressing such limitations. Videos and code are available at https://sites.google.com/view/uap-attacks-on-bc.
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2026 2verdicts
UNVERDICTED 2representative citing papers
Immune2V immunizes images against dual-stream I2V generation by enforcing temporally balanced latent divergence and aligning generative features to a precomputed collapse trajectory, yielding stronger persistent degradation than image-level baselines.
citing papers explorer
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Test-time Adversarial Takeover: A Real-time Hijacking Interface against Robotic Diffusion Policies
TAKO demonstrates real-time adversarial takeover of robotic diffusion policies via reusable universal patches on visual inputs, achieving 100% success in steering attacker-chosen trajectories across multiple tasks, encoders, and diffusion methods.
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Immune2V: Image Immunization Against Dual-Stream Image-to-Video Generation
Immune2V immunizes images against dual-stream I2V generation by enforcing temporally balanced latent divergence and aligning generative features to a precomputed collapse trajectory, yielding stronger persistent degradation than image-level baselines.