To bridge this gap, we model the strategic interactions between the defender and dynamic attackers as a minimax game. Based on the analysis of the game, we design an interactive defense mechanism FedGame. We prove that under mild assumptions, the global model trained with FedGame under backdoor attacks is close to that trained without attacks.

This paradigm has been challenged by practical deployments, which are more dynamic in nature.

A.1 List of objects, containers, surfaces, and rooms in the apartment We list all the objects that are included in our experimental environment. We use the object rearrangement tasks for evaluation. The tasks are randomly sampled from different distributions. Simple: this task is to move one object in the house to the desired location. Novel Simple: this task is to move one object in the house to the desired location.

Several data valuation algorithms have been proposed to quantify data quality, however, there lacks a systemic and standardized benchmarking system for data valuation.