{"id":"https://openalex.org/W7161692834","doi":"https://doi.org/10.48550/arxiv.2605.18593","title":"Not What You Asked For: Typographic Attacks in Household Robot Manipulation","display_name":"Not What You Asked For: Typographic Attacks in Household Robot Manipulation","publication_year":2026,"publication_date":"2026-05-18","ids":{"openalex":"https://openalex.org/W7161692834","doi":"https://doi.org/10.48550/arxiv.2605.18593"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.18593","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.18593","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136487445","display_name":"Ali Iranmanesh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iranmanesh, Ali","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136461902","display_name":"Peng Liu","orcid":"https://orcid.org/0000-0002-7964-1833"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.5667999982833862,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.5667999982833862,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.23270000517368317,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.04019999876618385,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6395000219345093},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6129999756813049},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5450000166893005},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.535099983215332},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5221999883651733},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.461899995803833},{"id":"https://openalex.org/keywords/vulnerability","display_name":"Vulnerability (computing)","score":0.4334000051021576},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4174000024795532},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4081999957561493},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.40049999952316284}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.744700014591217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6395000219345093},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6129999756813049},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.58160001039505},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5450000166893005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.541700005531311},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.535099983215332},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5221999883651733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49219998717308044},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.461899995803833},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.4334000051021576},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4174000024795532},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4081999957561493},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.40049999952316284},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4000000059604645},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.37229999899864197},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.358599990606308},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.33219999074935913},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3181999921798706},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.3075000047683716},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3041999936103821},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C147494362","wikidata":"https://www.wikidata.org/wiki/Q2078905","display_name":"Troubleshooting","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.25609999895095825},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.2535000145435333},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.18593","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.18593","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5443399548530579}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Open-vocabulary":[0],"embodied":[1],"AI":[2],"agents":[3],"increasingly":[4],"rely":[5],"on":[6,62],"vision-language":[7],"models":[8],"such":[9],"as":[10,163,201],"CLIP":[11,96],"for":[12],"object":[13,172,191],"perception":[14,90],"and":[15,56,138,167,187,205],"task":[16],"grounding.":[17],"However,":[18],"the":[19,63,83,116,152,170,183,189,210],"shared":[20],"embedding":[21],"space":[22],"that":[23,92,147,216],"enables":[24],"this":[25,50],"flexibility":[26],"introduces":[27],"a":[28,38,79,88,94,108,193,202],"structural":[29],"vulnerability":[30],"to":[31,98,128,157,192,209],"typographic":[32,76,199,218],"attacks,":[33],"where":[34],"printed":[35],"text":[36],"in":[37,52,78],"physical":[39],"scene":[40],"semantically":[41],"overrides":[42],"visual":[43],"judgment.":[44],"While":[45],"prior":[46,217],"work":[47,74],"has":[48,221],"quantified":[49],"threat":[51,208],"static":[53],"2D":[54],"benchmarks":[55],"3D":[57,154],"navigation":[58],"tasks,":[59],"its":[60],"impact":[61],"full":[64],"Sense-Plan-Act":[65],"pipeline":[66],"of":[67,112,125,169,212],"household":[68],"robot":[69,184],"manipulation":[70,214],"remains":[71],"unexplored.":[72],"This":[73],"evaluates":[75],"attacks":[77],"Habitat-based":[80],"simulation":[81],"using":[82],"HomeRobot":[84],"benchmark.":[85],"We":[86],"introduce":[87],"decoupled":[89],"architecture":[91],"exposes":[93],"frozen":[95],"encoder":[97],"adversarial":[99],"stickers":[100],"while":[101],"maintaining":[102],"geometric":[103],"grounding":[104],"via":[105],"DETIC.":[106],"In":[107,180],"controlled":[109],"evaluation":[110],"pool":[111],"59":[113],"attributable":[114],"episodes,":[115,133],"attack":[117,219],"achieves":[118],"an":[119,175],"overall":[120],"Attack":[121],"Success":[122],"Rate":[123],"(ASR)":[124],"67.8%,":[126],"rising":[127],"70.0%":[129],"among":[130],"fully":[131],"successful":[132],"under":[134],"uncontrolled":[135],"viewing":[136],"angles":[137],"occlusion":[139],"with":[140],"no":[141],"perceptual":[142,148],"optimization.":[143],"Critically,":[144],"we":[145],"find":[146],"errors":[149],"propagate":[150],"through":[151],"persistent":[153],"semantic":[155,178],"map":[156],"produce":[158],"kinetic":[159],"failures,":[160],"defined":[161],"here":[162],"physically":[164,185,206],"executed":[165],"grasping":[166],"transport":[168],"wrong":[171,190],"driven":[173],"by":[174],"adversarially":[176],"poisoned":[177],"state.":[179],"these":[181],"cases,":[182],"grasps":[186],"delivers":[188],"target":[194],"receptacle.":[195],"These":[196],"results":[197],"establish":[198],"misclassification":[200],"real,":[203],"measurable,":[204],"consequential":[207],"safety":[211],"modular":[213],"pipelines":[215],"research":[220],"left":[222],"unexamined.":[223]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-20T00:00:00"}