RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learning

Visual imitation learning enables robots to acquire visuomotor skills directly from images, yet RGB observations lack explicit geometric cues, making learned policies brittle to camera perturbations. To address this, we propose \textbf{Ray-conditioned Vision Transformer Encoder (RayViT)}, a lightweight architecture that injects camera geometry into pretrained ViT backbones. RayViT represents camera geometry as a Plücker ray map, patchifies it into ray features, and uses gated cross-attention to produce a ray-conditioned class token. These ray features are added as dense positional embeddings, while the ray class token replaces the original ViT class token to provide a geometry-aware summary representation. We combine this approach with an auxiliary cosine similarity loss to consistently improve the performance and robustness for geometry-aware tokens. Experiments on sim- and real-robot tasks demonstrate that RayViT improves robustness by approximately 13 percentage points under camera perturbations in multi-task RoboCasa benchmark and by 1.78 average completed stages in real-world multi-task success rate compared to baselines.

Curvature Dynamic Black-box Attack: revisiting adversarial robustness via dynamic curvature estimation

Adversarial attack reveals the vulnerability of deep learning models. For about a decade, countless attack and defense methods have been proposed, leading to robustified classifiers and better understanding of models. Among these methods, curvature-based approaches have attracted attention because it is assumed that high curvature may give rise to rough decision boundary. However, the most commonly used \textit{curvature} is the curvature of loss function, scores or other parameters from within the model as opposed to decision boundary curvature, since the former can be relatively easily formed using second order derivative. In this paper, we propose a new query-efficient method, dynamic curvature estimation(DCE), to estimate the decision boundary curvature in a black-box setting. Our approach is based on CGBA, a black-box adversarial attack. By performing DCE on a wide range of classifiers, we discovered, statistically, a connection between decision boundary curvature and adversarial robustness. We also propose a new attack method, curvature dynamic black-box attack(CDBA) with improved performance using the dynamically estimated curvature.