# AttackVLA: Benchmarking Adversarial and Backdoor Attacks on Vision-Language-Action Models

arXiv: https://arxiv.org/abs/2511.12149 · HTML: https://mlsanity.com/paper/2511.12149/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- Placed in Safety and adversarial attacks, one of 13 directions in Vision-language-action models.
- Builds on 21 of its 25 references that are in the map.
- First posted on arXiv 15 Nov 2025.

## Placed in

- Vision-language-action models / [Safety and adversarial attacks](https://mlsanity.com/vla/safety-and-adversarial-attacks/)
- LLM safety and security / [Prompt injection and agent security](https://mlsanity.com/safety/prompt-injection-and-agent-security/)

## Builds on (most cited first, 21 of 21)

- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Universal and Transferable Adversarial Attacks on Aligned Language Models](https://mlsanity.com/paper/2307.15043/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Certified Adversarial Robustness via Randomized Smoothing](https://mlsanity.com/paper/1902.02918/) (2019)
- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model](https://mlsanity.com/paper/2501.15830/) (2025)
- [SmoothLLM: Defending Large Language Models Against Jailbreaking Attacks](https://mlsanity.com/paper/2310.03684/) (2023)
- [Prismatic VLMs: Investigating the Design Space of Visually-Conditioned Language Models](https://mlsanity.com/paper/2402.07865/) (2024)
- [TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation](https://mlsanity.com/paper/2409.12514/) (2024)
- [DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control](https://mlsanity.com/paper/2502.05855/) (2025)
- [Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics](https://mlsanity.com/paper/2411.13587/) (2024)
- [An Adaptive Model Ensemble Adversarial Attack for Boosting Adversarial Transferability](https://mlsanity.com/paper/2308.02897/) (2023)
- [Evo-1: Lightweight Vision-Language-Action Model with Preserved Semantic Alignment](https://mlsanity.com/paper/2511.04555/) (2025)
- [BadVLA: Towards Backdoor Attacks on Vision-Language-Action Models via Objective-Decoupled Optimization](https://mlsanity.com/paper/2505.16640/) (2025)
- [Adversarial Attacks on Robotic Vision Language Action Models](https://mlsanity.com/paper/2506.03350/) (2025)
- [FreezeVLA: Action-Freezing Attacks against Vision-Language-Action Models](https://mlsanity.com/paper/2509.19870/) (2025)
- [DropVLA: An Action-Level Backdoor Attack on Vision-Language-Action Models](https://mlsanity.com/paper/2510.10932/) (2025)

## Built on by (most cited first, 12 of 12)

- [Safety in Embodied AI: A Survey of Risks, Attacks, and Defenses](https://mlsanity.com/paper/2605.02900/) (2026)
- [TRAP: Hijacking VLA CoT-Reasoning via Adversarial Patches](https://mlsanity.com/paper/2603.23117/) (2026)
- [SABER: A Stealthy Agentic Black-Box Attack Framework for Vision-Language-Action Models](https://mlsanity.com/paper/2603.24935/) (2026)
- [Uncovering Linguistic Fragility in Vision-Language-Action Models via Diversity-Aware Red Teaming](https://mlsanity.com/paper/2604.05595/) (2026)
- [Security of World-Model-Based Embodied AI: A Lifecycle of Threats, Defenses, and Evaluation](https://mlsanity.com/paper/2607.28226/) (2026)
- [RedVLA: Physical Red Teaming for Vision-Language-Action Models](https://mlsanity.com/paper/2604.22591/) (2026)
- [Structure-Aware Robust Fine-Tuning: Defending Vision-Language-Action Robots Against Physical Attention Hijacking](https://mlsanity.com/paper/2608.03231/) (2026)
- [Bit-Flip Attacks on Vision-Language-Action Models: Action-Decoding Architecture Shapes the Vulnerability](https://mlsanity.com/paper/2608.15475/) (2026)
- [Membership Inference Attacks on Vision-Language-Action Models](https://mlsanity.com/paper/2605.07088/) (2026)
- [!Imperio, smolVLA: The Implications of Data Poisoning on Open Source Robotics](https://mlsanity.com/paper/2607.04146/) (2026)
- [VLAGuard: A Framework for Evaluating and Mitigating Physical Attention Hijacking in Vision-Language-Action Robots within Wireless Sensor Networks](https://mlsanity.com/paper/2608.01028/) (2026)
- [Beyond Patch Removal: Persistent Adversarial Effects in Vision-Language-Action Policies](https://mlsanity.com/paper/2609.19669/) (2026)

## Abstract (arXiv)

Vision-Language-Action (VLA) models enable robots to interpret natural-language instructions and perform diverse tasks, yet their integration of perception, language, and control introduces new safety vulnerabilities. Despite growing interest in attacking such models, the effectiveness of existing techniques remains unclear due to the absence of a unified evaluation framework. One major issue is that differences in action tokenizers across VLA architectures hinder reproducibility and fair comparison. More importantly, most existing attacks have not been validated in real-world scenarios. To address these challenges, we propose AttackVLA, a unified framework that aligns with the VLA development lifecycle, covering data construction, model training, and inference. Within this framework, we implement a broad suite of attacks, including all existing attacks targeting VLAs and multiple adapted attacks originally developed for vision-language models, and evaluate them in both simulation and real-world settings. Our analysis of existing attacks reveals a critical gap: current methods tend to induce untargeted failures or static action states, leaving targeted attacks that drive VLAs to perform precise long-horizon action sequences largely unexplored. To fill this gap, we introduce BackdoorVLA, a targeted backdoor attack that compels a VLA to execute an attacker-specified long-horizon action sequence whenever a trigger is present. We evaluate BackdoorVLA in both simulated benchmarks and real-world robotic settings, achieving an average targeted success rate of 58.4% and reaching 100% on selected tasks. Our work provides a standardized framework for evaluating VLA vulnerabilities and demonstrates the potential for precise adversarial manipulation, motivating further research on securing VLA-based embodied systems.