# Study Reveals Flaws in Humanoid Robot Safety Filters; SIREN Can Automatically Generate Collision Attacks

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/xkld4qe93dyn5ywdqvvvlhkva
- Original: https://arxiv.org/abs/2610.31923

## Summary

The paper points out that the mathematical guarantees of humanoid robot safety filters hold only when parameters are configured correctly, while the parameters depend on the specific task and environment and may fail after deployment. The authors propose goal insertion attacks and develop an automated tool, SIREN, which identified attacks in all vulnerable scenarios in the SPARK dataset, three times the number found by baseline methods, and triggered collisions on a real humanoid robot.