用机器人运动控制隐藏信息，实现隐蔽通信。
Cyber-Physical Steganography in Robotic Motion Control
- 将信息编码为环境刺激影响机器人动作轨迹
- 保持机器人本体完整性和运动偏差最小化
- 适合对隐蔽通信有需求的智能系统研究
隐写术作为信息隐藏的艺术，已广泛应用于视觉、听觉和语言领域，并持续应对隐写检测的挑战。本文提出一种在机器人运动控制中实现隐写的全新范式，基于机器人对环境变化的敏感性，将消息编码为影响机器人动作的环境刺激，并从最终运动轨迹中解码信息。以最大化机器人完整性与最小化运动偏差为基本准则，确保隐蔽性。通过在多种模拟任务中开展实验，验证了配备通用多模态策略的机器人在不同操作场景下的可行性。
原文摘要 · Abstract (English)
Steganography, the art of information hiding, has continually evolved across visual, auditory and linguistic domains, adapting to the ceaseless interplay between steganographic concealment and steganalytic revelation. This study seeks to extend the horizons of what constitutes a viable steganographic medium by introducing a steganographic paradigm in robotic motion control. Based on the observation of the robot's inherent sensitivity to changes in its environment, we propose a methodology to encode messages as environmental stimuli influencing the motions of the robotic agent and to decode messages from the resulting motion trajectory. The constraints of maximal robot integrity and minimal motion deviation are established as fundamental principles underlying secrecy. As a proof of concept, we conduct experiments in simulated environments across various manipulation tasks, incorporating robotic embodiments equipped with generalist multimodal policies.
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