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--> [Submitted on 27 Aug 2026] Title:TrapVLA: Trapping Vision-Language-Action Models in Configured Failure Modes View a PDF of the paper titled TrapVLA: Trapping Vision-Language-Action Models in Configured Failure Modes, by Jun-Hui Liu and 11 other authors View PDF HTML (experimental) Abstract:This work introduces Configured Failure Trapping, a novel backdoor attack task against Vision-Language-Action (VLA) models, which aims to activate attacks through stealthy textual triggers and induce configured failure modes. Unlike prior backdoor attacks that treat any task failure as a successful attack, Configured Failure Trapping requires the attacker to control how the robot fails (e.g., causing the robot to grasp with a specified positional offset), making it substantially more challenging and hard to detect. To support the new task, we propose an effective data engine for synthesizing high-quality target trajectories and an automated suite for measuring configured-failure fidelity. Then, based on this foundation, we construct two new benchmarks, namely Trap-LIBERO and Trap-RoboTwin, that instantiate Configured Failure Trapping across four representative failure modes. To address this task, we identify sparse action deviation as a critical challenge and accordingly propose a novel method named TrapVLA, which explicitly learns trigger-induced action residuals to steer the policy toward the configured failure behavior. Extensive experiments across simulation benchmarks and real-world robotic settings show that TrapVLA effectively injects configured failure modes into VLA models while largely preserving performance on clean data. Project page: this https URL Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.26578 [cs.RO] (or arXiv:2608.26578v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.26578 arXiv-issued DOI via DataCite (pending registration) Submission history From: Jun-Hui Liu [view email] [v1] Thu, 27 Aug 2026 03:44:49 UTC (4,148 KB) Full-text links: Access Paper: View a PDF of the paper titled TrapVLA: Trapping Vision-Language-Action Models in Configured Failure Modes, by Jun-Hui Liu and 11 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)