SOURCE-LINKED INTELLIGENCE

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

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Learning-enabled robotic manipulation increasingly relies on robot simulators for policy training and evaluation before real-world deployment. Inside a simulator, a 3D asset contains two separate geometries: a visual mesh used for rendering and a collision mesh used for physical interaction. For computational efficiency, the collision mesh is deliberately a coarse approximation that need not have the same geometry as the visual mesh, a legitimate and pervasive discrepancy we call the Visual--Collision Gap (V--C Gap). We show that the V--C Gap opens a new and practical attack surface, and propo

Read original source ↗ Open in workspace

recordType

paper

region

Global