TRAP: Hijacking VLA CoT-Reasoning via Adversarial Patches

摘要

By integrating Chain-of-Thought (CoT) reasoning, Vision-Language-Action (VLA) models have demonstrated strong capabilities in robotic manipulation, particularly by improving generalization and interpretability. However, the security of CoT-based reasoning mechanisms remains largely unexplored. In this paper, we show that Chain-of-Thought (CoT) reasoning introduces a novel attack vector for targeted control hijacking—for example, causing a robot to mistakenly deliver a knife to a person instead of an apple—without modifying the user’s instruction. We first provide empirical evidence that CoT strongly governs action generation, even when it is semantically misaligned with the input instructions. Building on this observation, we propose **TRAP**, the first targeted adversarial attack framework for CoT-reasoning VLA models. **TRAP** uses an adversarial patch (e.g., a coaster placed on the table) to corrupt intermediate CoT reasoning and hijack the VLA’s output. By optimizing the CoT adversarial loss, **TRAP** induces specific and adversary-defined behaviors. Extensive evaluations across 3 mainstreaming VLA architectures and 3 CoT reasoning paradigms validate the effectiveness of **TRAP**. Notably, we implemented the patch by printing it on paper in a real-world setting. Our findings highlight the urgent need to secure CoT reasoning in VLA systems.