黑客只需攻陷一台机器人,就能让整个协作系统执行危险动作。
Propagating Unsafe Actions in LLM Controlled Multi-Robot Collaboration via Single Robot Compromise

- 攻击者仅控制一台机器人,通过通信将恶意指令传播给其他机器人。
- 攻击成功率高达1.00,90%的机器人会被感染,3轮内完成全系统入侵。
- 隐蔽性强,能在紧急情况下绕过安全规则,适合研究机器人安全的人看。
大型语言模型(LLMs)正被广泛用于具身智能中的通用规划,实现单机器人与多机器人协作的高层协调与低层任务规划。这种对具身LLM规划器的依赖也带来了重大安全隐患,因为对齐错误或被操控的指令可能转化为物理行为。已有研究关注单机器人场景下的威胁,但涉及多机器人协作中通过机器人间通信传播的安全风险仍基本未被探索。为此,我们提出一种新型攻击范式:攻击者仅需与一台入口机器人交互,被攻陷的机器人通过同伴通信传播恶意意图,导致系统内协同执行不安全行为。评估覆盖失职、隐私泄露和公共安全风险等高危维度,揭示了多机器人规划器中存在的持续性安全对齐缺口。我们使用三个指标量化该过程:服从性、传染性和隐蔽性。实验表明,攻击具有持久控制力和快速传播能力:服从性最高达1.00,传染性达0.90。值得注意的是,攻击效率极高,最少仅需3.0轮即可攻陷全部机器人,同时保持0.81的隐蔽性评分。当机器人需在紧急情况或权利冲突中权衡取舍时,风险进一步放大,因协作机制可能无意中使敌对指令覆盖安全要求。代码已开源:https://github.com/TheFatInsect/InfectBot。
原文摘要 · Abstract (English)
Large language models (LLMs) are increasingly used as general planners in embodied intelligence, enabling high level coordination and low level task planning for both single robot and multi-robot collaboration. This increasing reliance on embodied LLM planners also raises critical security concerns, since misaligned or manipulated instructions can be translated into physical actions. Prior work has studied such threats in single robot settings, while security risks in LLM controlled multi-robot collaboration, especially those propagated through inter robot communication, remain largely unexplored. To bridge this gap, we propose a novel attack paradigm for multi-robot system in which the adversary interacts with only a single entry robot. The compromised robot then propagates malicious intent through peer communication, leading to coordinated unsafe actions across the system. Our evaluation, covering high risk dimensions of dereliction of duty, privacy compromise, and public safety hazards, reveals a persistent safety alignment gap in multi-robot planners. We quantify this process with three metrics, obedience, infectiousness, and stealthiness. Experiments demonstrate both persistent attacker control and rapid propagation: obedience reaches 1.00 in the strongest cases, and infectiousness rises to 0.90. Notably, the attack is highly efficient, requiring as few as 3.0 rounds to compromise all the robots while maintaining a stealthiness score of 0.81. Such risks are amplified when robots must resolve trade offs in critical situations, such as emergencies or conflicts of rights, because the coordination mechanism can unintentionally allow adversarial instructions to override safety requirements. The code is available at https://github.com/TheFatInsect/InfectBot.
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