The Vision-Language Model (VLM) perception module in Vision-and-Language Navigation (VLN) agents is vulnerable to adversarial 3D object injection via the Adversarial Object Fusion (AdvOF) framework. An attacker can generate physically plausible 3D objects with adversarial perturbations capable of deceiving the agent's VLM across multiple viewing angles and distances. The vulnerability exists due to a misalignment between 3D physical manipulations and the agent's 2D image perception, combined…
Source: arXiv