paperApril 2026Unreviewed

From Prompt to Physical Action: Structured Backdoor Attacks on LLM-Mediated Robotic Control Systems

Mingyang Xie, Jin Wei-Kocsis

Abstract

The integration of large language models (LLMs) into robotic control pipelines enables natural language interfaces that translate user prompts into executable commands. However, this digital-to-physical interface introduces a critical and underexplored vulnerability: structured backdoor attacks embedded during fine-tuning. In this work, we experimentally investigate LoRA-based supply-chain backdoors in LLM-mediated ROS2 robotic control systems and evaluate their impact on physical robot executio

Framework mappings

OWASP Top 10 for LLM Applications

LLM04Data and Model Poisoning

MITRE ATLAS

AML.T0020Poison Training Data

Suggested from the entry's categories.

Cite

@misc{xie2026from,
  title = {{From Prompt to Physical Action: Structured Backdoor Attacks on LLM-Mediated Robotic Control Systems}},
  author = {Mingyang Xie and Jin Wei-Kocsis},
  year = {2026},
  month = apr,
  eprint = {2604.03890},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.03890}
}