"Your Robot Was Trained on a Lie": Collision Mesh Poisoning Attacks on Robotic Manipulation

arXiv:2609.18122 · cs.CR, cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.CR, cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/Denys88/rl_

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 11× in this paper · explained in 2 episodes
• Reinforcement Learning — 11× in this paper · explained in 4 episodes
• Collision Mesh Poisoning — 8× in this paper
• Generalization — 8× in this paper · explained in 13 episodes
• Adam — 6× in this paper · explained in 2 episodes
• AUC — 4× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 4× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Federated Learning — 2× in this paper · explained in 14 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• IEEE Symposium on Security and Privacy — 2× in this paper
• International Conference on Robotics and Automation — 2× in this paper
• Poisoned-Sim Success Rate — 2× in this paper
• Self-Supervised Learning — 2× in this paper · explained in 7 episodes
• Semi-supervised Learning — 2× in this paper · explained in 4 episodes
• ACM Transactions on Graphics — 1× in this paper
• Adaptation — 1× in this paper · explained in 1 episode
• Adversarial Attacks — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Benign Success Rate — 1× in this paper
• Benign-Sim Success Rate — 1× in this paper
• Calibration — 1× in this paper · explained in 7 episodes
• Core — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Provenance — 1× in this paper · explained in 3 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• Tex3D: Objects as Attack Surfaces via Adversarial 3D Textures for Vision-Language-Action Models
• Qwen3-VL Technical Report
• Beyond the Patch: Exploring Vulnerabilities of Visuomotor Policies via Viewpoint-Consistent 3D Adversarial Object
• GPT-4o System Card
• Proximal Policy Optimization Algorithms
• RSL-RL: A Learning Library for Robotics Research
• OpenAI GPT-5 System Card
• Programming-by-Example for Batch-Editing Collision Meshes in 3D Software

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