Exploiting Vulnerabilities: Universal Adversarial Attacks on Vision-Language-Action Models in Robotics

arXiv:2609.39178 · cs.RO, cs.CR, cs.CV · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.CR, cs.CV

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/mcfletch/pyopengl

Terminology

• VLA Models — 24× in this paper · explained in 3 episodes
• Regularization — 11× in this paper · explained in 3 episodes
• Universal Adversarial Object — 11× in this paper
• Adversarial Attacks — 10× in this paper · explained in 1 episode
• Robustness — 10× in this paper · explained in 5 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Data Augmentation — 2× in this paper · explained in 7 episodes
• Loss Function — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Action Primitives — 1× in this paper · explained in 1 episode
• Adversarial Training — 1× in this paper · explained in 1 episode
• Adversarial Vulnerabilities — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Modular Architecture — 1× in this paper · explained in 4 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• Multimodal Integration — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• A Survey on Vision-Language-Action Models for Embodied AI
• Vision-Language-Action (VLA) Models: Concepts, Progress, Applications and Challenges
• VIMA: General Robot Manipulation with Multimodal Prompts
• RT-1: Robotics Transformer for Real-World Control at Scale
• OpenVLA: An Open-Source Vision-Language-Action Model
• DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• Vision Language Action Models in Robotic Manipulation: A Systematic Review
• Adversarial Patch
• Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics
• Robust Physical-World Attacks on Deep Learning Models
• Gemma: Open Models Based on Gemini Research and Technology

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