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Model/metricNominalPGD attackGWCACR
E01/2553/2555/2551/2551/255
BankHeist
Baselines:
StandardDQN[17] A3C1325.5±5.7 1109.0±21.429.5±2.4 1102.5±49.40.0±0.00.0±0.00.0±0.0 0.5±0.50.000 0.000
RobustRS-DQN[18]238.66190.67534.5±58.2 N/A115.0±27.8 N/AN/AN/A
SA-DQN[17]1237.6±1.71237.0±2.01213.0±2.51130.0±29.11196.5±9.40.976
Our Methods:
RADIAL-DQN1349.5±1.71349.5±1.71348±1.71182.5±43.31344.5±1.80.981
RADIAL-A3C1036.5±23.4975±22.2949±19.5712±46.4851.5±2.90.718
Freeway Baselines:
StandardDQN[17]33.9±0.070.0±0.00.0±0.00.0±0.00.0±0.00.000
RobustRS-DQN[18]32.9332.53N/AN/AN/AN/A
SA-DQN [17]30.0±0.030.0±0.030.05±0.0527.65±0.2230.0±0.01.000
Our Methods:
RADIAL-DQN33.2±0.1933.35±0.1633.4±0.1329.1±0.1733.25±0.240.998
Pong Baselines:
StandardDQN[17]21.0±0.0-21.0±0.0-21.0±0.0-20.85±0.08-21.0±0.00.000
RobustA3C21.0±0.021.0±0.021.0±0.0-17.85±0.33-21.0±0.00.000
RS-DQN[18] SA-DQN[17]19.73 21.0±0.018.13 21.0±0.0N/A 21.0±0.0N/A -19.75±0.1N/A 21.0±0.0N/A 1.000
Our Methods:
21.0±0.021.0±0.021.0±0.021.0±0.021.0±0.0
RADIAL-DQN RADIAL-A3C21.0±0.021.0±0.021.0±0.021.0±0.021.0±0.00.894 0.755
RoadRunner
Standard
DQN[17] A3C43390±973 34420±6040.0±0.0 31040±21730.0±0.0 3025±3170.0±0.0 350±930.0±0.0 0.0±0.00.000 0.000
RobustRS-DQN[18]12106.675753.33N/AN/AN/AN/A
SA-DQN [17]45870±138044300±175320170±18223350±3350.0±0.00.602
Our Methods:
RADIAL-DQN44495±116544445±114839560±162123820±94245770±16220.994
RADIAL-A3C34825±98131960±93329920±149631545±148031885±19120.923
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Env:ModelDistNominale=1/255 PGDe=3/255PGDe=5/255 PGD
FruitbotPPOTrain30.20±0.2325.72 ± 0.3315.56 ± 0.388.79 ± 0.35
RADIAL-PPOEval26.09 ± 0.3322.53 ± 0.3813.51 ± 0.398.51 ± 0.35
Train28.03±0.2427.93 ± 0.2527.84 ± 0.2627.50 ± 0.26
Eval26.08 ± 0.2926.06 ± 0.3025.87 ± 0.3025.81 ± 0.30
CoinrunPPOTrain8.31± 0.126.36± 0.154.19 ± 0.163.32 ±0.15
Eval6.65 ± 0.155.22 ± 0.163.58 ± 0.153.36 ± 0.15
RADIAL-PPOTrain7.12 ±0.147.10 ±0.147.19 ± 0.147.34± 0.14
Eval6.66 ± 0.156.71 ± 0.156.71 ± 0.156.67 ± 0.15
JumperPPOTrain8.69± 0.116.61 ± 0.154.50 ± 0.163.42 ± 0.15
RADIAL-PPOEval4.22 ± 0.163.90 ± 0.153.10 ± 0.153.15 ± 0.15
Train6.59 ± 0.156.70 ± 0.156.55 ± 0.156.83 ± 0.15
Eval3.85 ± 0.153.93 ± 0.153.75 ± 0.153.59 ± 0.15
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EnvironmentModelNominal e=0e = 0.0375Attack (MAD) e= 0.075∈=0.15
Walker2D (etrain = 0.075)PPO3635.3±50.71968.5±90.61283.1±61.9670.3±31.9
SA-PPO [17]3776.4±186.03923.6±189.93263.7±228.13652.1±203.3
RADIAL-PPO5251.6±10.45108.4±67.94474.7±140.63895.3±128.3
Hopper (etrain = 0.075)PPO2740.7±125.82034.4±126.91524.2±146.3969.9±90.1
SA-PPO [17]3585.0±56.43364.7±93.93165.1±107.12248.3±124.7
RADIAL-PPO3737.5±4.43684.9±27.43252.1±101.92498.9±130.0
Half Cheetah (etrain = 0.15)PPO5566.0±8.75517.8±8.85179.3±64.71483.6±193.4
SA-PPO [17]4175.0±29.94168.8±29.94178.5±35.34173.1±31.8
RADIAL-PPO4724.3±10.64629.7±36.94480.0±66.94008.5±119.5
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