{"id":"https://openalex.org/W7148888202","doi":"https://doi.org/10.48550/arxiv.2604.01618","title":"Tex3D: Objects as Attack Surfaces via Adversarial 3D Textures for Vision-Language-Action Models","display_name":"Tex3D: Objects as Attack Surfaces via Adversarial 3D Textures for Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7148888202","doi":"https://doi.org/10.48550/arxiv.2604.01618"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.01618","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01618","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.01618","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132901340","display_name":"Jiawei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132840008","display_name":"Simin Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Simin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132860086","display_name":"Jiawei Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Chen, Shuaihang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Shuaihang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132863422","display_name":"Yu Tian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113657600","display_name":"Mingjie Wei","orcid":"https://orcid.org/0000-0002-5051-2456"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Mingjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132845750","display_name":"Chao Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Chao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132904167","display_name":"Zhaoxia Yin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yin, Zhaoxia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.0031999999191612005,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.892799973487854},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4961000084877014},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4002000093460083},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.38670000433921814},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.3287000060081482},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.3285999894142151},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.3285999894142151},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.32269999384880066}],"concepts":[{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.892799973487854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7071999907493591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5716999769210815},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4961000084877014},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4244999885559082},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4002000093460083},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.38670000433921814},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.32269999384880066},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.3068999946117401},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3050000071525574},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2948000133037567},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C41065033","wikidata":"https://www.wikidata.org/wiki/Q2825412","display_name":"Adversary","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2750000059604645},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.01618","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01618","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.01618","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01618","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"models":[2],"have":[3],"shown":[4],"strong":[5],"performance":[6,212],"in":[7,44,73,154,200],"robotic":[8],"manipulation,":[9],"yet":[10],"their":[11],"robustness":[12],"to":[13,65,71,80,107,113,223,234],"physically":[14,55,235],"realizable":[15],"adversarial":[16,49,77,191,238],"attacks":[17,239],"remains":[18,147],"underexplored.":[19],"Existing":[20],"studies":[21],"reveal":[22],"vulnerabilities":[23,230],"through":[24,115,132],"language":[25],"perturbations":[26],"and":[27,57,68,151,169,203,240],"2D":[28],"visual":[29],"attacks,":[30],"but":[31],"these":[32,178],"attack":[33,146],"surfaces":[34],"are":[35,62,69],"either":[36],"less":[37],"representative":[38],"of":[39,189,221,231],"real":[40],"deployment":[41],"or":[42],"limited":[43],"physical":[45,74,156],"realism.":[46],"In":[47],"contrast,":[48],"3D":[50,78,92,190,237],"textures":[51,79,192],"pose":[52],"a":[53,97,173],"more":[54],"plausible":[56],"damaging":[58],"threat,":[59],"as":[60],"they":[61],"naturally":[63],"attached":[64],"manipulated":[66],"objects":[67],"easier":[70],"deploy":[72],"environments.":[75],"Bringing":[76],"VLA":[81,103,196,211,232],"systems":[82,233],"is":[83,89],"nevertheless":[84],"nontrivial.":[85],"A":[86],"central":[87],"obstacle":[88],"that":[90,144,207],"standard":[91],"simulators":[93],"do":[94],"not":[95],"provide":[96],"differentiable":[98,129],"optimization":[99,131,171,188],"path":[100],"from":[101],"the":[102,137,145,155,183,195,242],"objective":[104],"function":[105],"back":[106],"object":[108],"appearance,":[109],"making":[110],"it":[111],"difficult":[112],"optimize":[114],"an":[116],"end-to-end":[117,187],"manner.":[118],"To":[119,141],"address":[120],"this,":[121],"we":[122,158,180],"introduce":[123],"Foreground-Background":[124],"Decoupling":[125],"(FBD),":[126],"which":[127,164],"enables":[128],"texture":[130],"dual-renderer":[133],"alignment":[134],"while":[135],"preserving":[136],"original":[138],"simulation":[139,197,202],"environment.":[140,198],"further":[142],"ensure":[143],"effective":[148],"across":[149,213],"long-horizon":[150],"diverse":[152],"viewpoints":[153],"world,":[157],"propose":[159],"Trajectory-Aware":[160],"Adversarial":[161],"Optimization":[162],"(TAAO),":[163],"prioritizes":[165],"behaviorally":[166],"critical":[167,229],"frames":[168],"stabilizes":[170],"with":[172],"vertex-based":[174],"parameterization.":[175],"Built":[176],"on":[177],"designs,":[179],"present":[181],"Tex3D,":[182],"first":[184],"framework":[185],"for":[186,244],"directly":[193],"within":[194],"Experiments":[199],"both":[201],"real-robot":[204],"settings":[205],"show":[206],"Tex3D":[208],"significantly":[209],"degrades":[210],"multiple":[214],"manipulation":[215],"tasks,":[216],"achieving":[217],"task":[218],"failure":[219],"rates":[220],"up":[222],"96.7\\%.":[224],"Our":[225],"empirical":[226],"results":[227],"expose":[228],"grounded":[236],"highlight":[241],"need":[243],"robustness-aware":[245],"training.":[246]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-04T00:00:00"}
