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arXiv · 2609.19669

Beyond Patch Removal: Persistent Adversarial Effects in Vision-Language-Action Policies

Enhao Wu·Fusen Guo·Yuxin Cao·Ziyang Lyu·Lin Li·Wei Song
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Abstract

Adversarial patches to Vision-Language-Action (VLA) policies can cause both immediate action corruption and persistent state effects that remain after the patch is removed. Existing evaluations largely focus on continuous attacks and do not separate these two effects. We introduce a state-restoration protocol that removes the patch at matched action-chunk boundaries and measures subsequent recoverability under the same remaining step budget. Clean, random-patch, deviation-matched, and fixed-direction controls distinguish adversarial effects from occlusion, action-error magnitude, and directional persistence. We also evaluate a recovery adapter trained on attack-induced states under controlled intervention latency. On OpenVLA-OFT with EDPA attacks, only 36.2% of LIBERO-Long episodes remain recoverable after five chunks, compared with 89.9% and 87.0% for the deviation-matched and fixed-direction controls. Similar persistent effects are observed on autoregressive OpenVLA. The recovery adapter improves recovery from 7.7% to 47.4% at one-chunk latency, but its benefit decreases substantially with delayed intervention. These results show that adversarial effects can persist after patch removal and that timely intervention is critical for recovery.

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Enhao Wu, Fusen Guo, Yuxin Cao, Ziyang Lyu, Lin Li, Wei Song. 2026-09-17. Beyond Patch Removal: Persistent Adversarial Effects in Vision-Language-Action Policies. https://arxiv.org/abs/2609.19669

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