Cyber-Physical Steganography in Robotic Motion Control
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866913641338503168 |
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| author | Chang, Ching-Chun Lin, Yijie Echizen, Isao |
| author_facet | Chang, Ching-Chun Lin, Yijie Echizen, Isao |
| contents | Steganography, the art of information hiding, has continually evolved across visual, auditory and linguistic domains, adapting to the ceaseless interplay between steganographic concealment and steganalytic revelation. This study seeks to extend the horizons of what constitutes a viable steganographic medium by introducing a steganographic paradigm in robotic motion control. Based on the observation of the robot's inherent sensitivity to changes in its environment, we propose a methodology to encode messages as environmental stimuli influencing the motions of the robotic agent and to decode messages from the resulting motion trajectory. The constraints of maximal robot integrity and minimal motion deviation are established as fundamental principles underlying secrecy. As a proof of concept, we conduct experiments in simulated environments across various manipulation tasks, incorporating robotic embodiments equipped with generalist multimodal policies. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_04541 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Cyber-Physical Steganography in Robotic Motion Control Chang, Ching-Chun Lin, Yijie Echizen, Isao Robotics Artificial Intelligence Cryptography and Security Steganography, the art of information hiding, has continually evolved across visual, auditory and linguistic domains, adapting to the ceaseless interplay between steganographic concealment and steganalytic revelation. This study seeks to extend the horizons of what constitutes a viable steganographic medium by introducing a steganographic paradigm in robotic motion control. Based on the observation of the robot's inherent sensitivity to changes in its environment, we propose a methodology to encode messages as environmental stimuli influencing the motions of the robotic agent and to decode messages from the resulting motion trajectory. The constraints of maximal robot integrity and minimal motion deviation are established as fundamental principles underlying secrecy. As a proof of concept, we conduct experiments in simulated environments across various manipulation tasks, incorporating robotic embodiments equipped with generalist multimodal policies. |
| title | Cyber-Physical Steganography in Robotic Motion Control |
| topic | Robotics Artificial Intelligence Cryptography and Security |
| url | https://arxiv.org/abs/2501.04541 |