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

The integration of Large Language Models (LLMs) into robotic control systems is enabling a new generation of autonomous agents capable of complex reasoning and planning. While this paradigm shift accelerates progress, it also introduces novel security risks that remain largely unexplored. Current research into LLM backdoors has focused on attacks triggered by external stimuli, such as specific words, visual objects, or environmental states. These attacks, while potent, overlook a more insidious class of vulnerability where the trigger is internal to the agent's own operational logic. This paper presents the first comprehensive study of history-based backdoor attacks on LLM-powered robotic systems. We demonstrate that an attacker can embed a stealthy backdoor into an LLM-based robot controller by manipulating its instructions. This backdoor is triggered not by an external cue, but by a specific, rare sequence of the robot's own past actions. It remains dormant during normal operation, preserving the robot's utility, but can be activated to induce a malicious behavior, such as a complete stop or a collision. Our experiments, conducted in a simulated environment with a variety of robots and LLMs, show that this history-based attack is highly effective, achieving a near-perfect attack success rate while remaining exceptionally difficult to detect. These findings reveal a critical and previously unaddressed vulnerability in autonomous systems and underscore the urgent need for security measures that account for an agent's internal state.

We present RIPA, the first systematic multi-channel empirical study of prompt injection attacks delivered through the sensory pipeline of a ROS 2-based LLM-controlled robotic system. Across 100 independent runs per injection variant on five LLMs spanning four model families and parameter scales from approximately 4B to approximately 284B (DeepSeek-V4-Flash, Llama-3-8B-Instruct-Lite, Llama-3.3-70B-Instruct-Turbo, Qwen 2.5-7B-Instruct-Turbo, Gemma-3n-E4B), we identify model-specific vulnerability profiles that do not follow a monotonic scaling trend: Llama-3.3-70B-Instruct-Turbo exhibits 100% attack success rate (ASR) across all injection variants, while Llama-3-8B-Instruct-Lite and Qwen 2.5-7B-Instruct-Turbo resist direct-override injection (0% ASR), and the smallest model evaluated (Gemma-3n-E4B, approximately 4B) matches the 70B model's vulnerability profile, indicating that robustness is model-specific rather than scale-dependent. We propose a hybrid semantic firewall that achieves 0% ASR against known injection patterns with no false positives on a preliminary benign set (0/20 commands) but exhibits a 10.2% trial-weighted bypass rate (58/570 trials; N equals 30 per payload across 19 obfuscation payloads) against adversarially obfuscated attacks, exposing a critical gap between rule-based and semantic defense layers. We further introduce three sensory injection channels: visual (Channel 1, via OCR), audio (Channel 2, via Whisper STT), and LiDAR sensor context poisoning (Channel 3). We show that Channel 3, which injects fabricated obstacle data into the robot environment-state representation at the LLM system-prompt level, achieves 100% ASR across all variants on DeepSeek-V4-Flash. We also contribute a firewall bypass taxonomy spanning 19 obfuscation payloads across five categories. All code, data, and results are publicly available.

Large Language Models (LLMs) are increasingly used as high-level planners in embodied multi-robot systems, enabling robots to interpret natural language instructions and coordinate executable actions. Yet, this growing reliance on LLM planners also raises security concerns. Prior work has focused mainly on individual robots, while communication risks in multi-robot collaboration remain insufficiently understood. Existing multi-robot studies are further limited to preliminary analysis under the Decentralized Multi-agent System (DMAS) architecture, so it remains unclear whether these risks persist across other common communication architectures and how attacker access settings shape their propagation. To fill this gap, we formulate two communication attacks corresponding to distinct attacker access settings: the External Entry Point Attack and the Privileged In-System Attack. We evaluate both attacks across DMAS, HMAS-1, and HMAS-2 using three LLMs and five embodied multi-robot tasks. Results show that unsafe information can turn into unsafe actions across all three architectures: DMAS reaches a 96.7% entry endorsement rate and a 100% post endorsement activation rate, HMAS-1 reaches a 97.8% unsafe action success rate, and HMAS-2 triggers 88.3% of task defined unsafe action slots. To mitigate risks from trusted information flow, we introduce the Claim Provenance and Verification (CPV) Gate, which verifies communicated claims before downstream reuse and reduces the violation rate from 70.0% to 36.6%.