# UniTexture: Cross-Task Universal Adversarial Textures for Vision-Language-Action Models

arXiv: https://arxiv.org/abs/2608.13453 · HTML: https://mlsanity.com/paper/2608.13453/

## Key facts

- Cited by 1 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 11 of its 19 references that are in the map.
- First posted on arXiv 13 Aug 2026.

## Placed in

- Vision-language-action models / [Safety and adversarial attacks](https://mlsanity.com/vla/safety-and-adversarial-attacks/)

## Builds on (most cited first, 11 of 11)

- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [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)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [Accelerating 3D Deep Learning with PyTorch3D](https://mlsanity.com/paper/2007.08501/) (2020)
- [Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics](https://mlsanity.com/paper/2411.13587/) (2024)
- [BadVLA: Towards Backdoor Attacks on Vision-Language-Action Models via Objective-Decoupled Optimization](https://mlsanity.com/paper/2505.16640/) (2025)
- [Phantom Menace: Exploring and Enhancing the Robustness of VLA Models Against Physical Sensor Attacks](https://mlsanity.com/paper/2511.10008/) (2025)
- [VLA-Hijack: A Transferable Patch Attack against Vision-Language-Action Models via Visual Proprioception Hijacking](https://mlsanity.com/paper/2605.28083/) (2026)

## Built on by (most cited first, 1 of 1)

- [Across Viewpoints and Time: Trajectory-Generalizable Physical Attacks on World Models and Video Understanding Models](https://mlsanity.com/paper/2610.15343/) (2026)

## Abstract (arXiv)

Vision-Language-Action (VLA) models have emerged as generalist robotic policies capable of following diverse language instructions and performing a wide range of manipulation tasks. However, their direct control over embodied agents also exposes them to adversarial interference that may cause unsafe physical behaviors. Existing attacks on robotic policies are typically optimized for a single task or instruction, leaving the cross-task vulnerabilities of multitask VLAs largely unexplored. We introduce UniTexture, a cross-task universal adversarial texture attack that uses a single textured 3D object to induce targeted deviations in VLA action predictions across multiple tasks. UniTexture backpropagates gradients from the policy's action outputs to surface texture parameters through a differentiable renderer. It jointly optimizes the shared texture over a distribution of tasks, instructions, states, and viewpoints using a targeted action-space objective, steering predicted actions toward attacker-defined targets without optimizing a separate texture for each task. We evaluate UniTexture on OpenVLA and π0.5 across diverse manipulation tasks and multiple evaluation settings. UniTexture reduces the mean task success rate from 90.0% under benign conditions to 48.4% under attack, induces target-aligned action shifts, and further exhibits cross-suite and cross-model transfer without re-optimization. Together, these findings reveal shared cross-task vulnerabilities in multitask VLAs that can be systematically exploited through a single adversarial surface texture.