Bingxin Xu, Yuzhang Shang, Binghui Wang et al. · University of Southern California · University of Central Florida +1 more
Backdoor attack on VLA robotic models exploiting action chunking to inject stealthy malicious trajectories with 93% ASR
Vision-Language-Action (VLA) models are increasingly deployed in safety-critical robotic applications, yet their security vulnerabilities remain underexplored. We identify a fundamental security flaw in modern VLA systems: the combination of action chunking and delta pose representations creates an intra-chunk visual open-loop. This mechanism forces the robot to execute K-step action sequences, allowing per-step perturbations to accumulate through integration. We propose SILENTDRIFT, a stealthy black-box backdoor attack exploiting this vulnerability. Our method employs the Smootherstep function to construct perturbations with guaranteed C2 continuity, ensuring zero velocity and acceleration at trajectory boundaries to satisfy strict kinematic consistency constraints. Furthermore, our keyframe attack strategy selectively poisons only the critical approach phase, maximizing impact while minimizing trigger exposure. The resulting poisoned trajectories are visually indistinguishable from successful demonstrations. Evaluated on the LIBERO, SILENTDRIFT achieves a 93.2% Attack Success Rate with a poisoning rate under 2%, while maintaining a 95.3% Clean Task Success Rate.
Hanbin Hong, Ashish Kundu, Ali Payani et al. · University of Connecticut · Cisco Research +1 more
Certified adversarial defense using anisotropic randomized smoothing that outperforms isotropic baselines by up to 182.6% on certified accuracy
Randomized smoothing has become essential for achieving certified adversarial robustness in machine learning models. However, current methods primarily use isotropic noise distributions that are uniform across all data dimensions, such as image pixels, limiting the effectiveness of robustness certification by ignoring the heterogeneity of inputs and data dimensions. To address this limitation, we propose UCAN: a novel technique that \underline{U}niversally \underline{C}ertifies adversarial robustness with \underline{A}nisotropic \underline{N}oise. UCAN is designed to enhance any existing randomized smoothing method, transforming it from symmetric (isotropic) to asymmetric (anisotropic) noise distributions, thereby offering a more tailored defense against adversarial attacks. Our theoretical framework is versatile, supporting a wide array of noise distributions for certified robustness in different $\ell_p$-norms and applicable to any arbitrary classifier by guaranteeing the classifier's prediction over perturbed inputs with provable robustness bounds through tailored noise injection. Additionally, we develop a novel framework equipped with three exemplary noise parameter generators (NPGs) to optimally fine-tune the anisotropic noise parameters for different data dimensions, allowing for pursuing different levels of robustness enhancements in practice.Empirical evaluations underscore the significant leap in UCAN's performance over existing state-of-the-art methods, demonstrating up to $182.6\%$ improvement in certified accuracy at large certified radii on MNIST, CIFAR10, and ImageNet datasets.\footnote{Code is anonymously available at \href{https://github.com/youbin2014/UCAN/}{https://github.com/youbin2014/UCAN/}}
ML Security Papers