Executive Summary

CVE-2026-27509 affects Unitree Go2 firmware versions V1.1.7 through V1.1.9 and V1.1.11 (EDU). The vulnerability exists because the firmware does not implement authentication or authorization for the Eclipse CycloneDDS topic rt/api/programming_actuator/request, which is managed by the actuator_manager.py script.

This flaw allows a network-adjacent, unauthenticated attacker to join DDS domain 0 and publish a specially crafted message containing arbitrary Python code. The robot writes this code to disk under /unitree/etc/programming/ and binds it to a physical controller keybinding.

When the keybinding is pressed, the malicious code executes with root privileges, and this binding remains persistent across system reboots.

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Impact Analysis

[{'type': 'paragraph', 'content': 'This vulnerability allows an attacker who is adjacent on the network to execute arbitrary Python code on the Unitree Go2 robot with root privileges.'}, {'type': 'paragraph', 'content': 'The attacker can persistently bind malicious code to a physical controller keybinding, enabling remote code execution triggered by pressing a physical button.'}, {'type': 'paragraph', 'content': "The impact includes full compromise of the robot's confidentiality, integrity, and availability, as the attacker can run any code as root and maintain persistence across reboots."}] [1, 2]

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Compliance Impact

I don't know

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Detection Guidance

[{'type': 'paragraph', 'content': 'This vulnerability can be detected by monitoring the DDS (Data Distribution Service) traffic on your network, specifically looking for activity on the Eclipse CycloneDDS topic `rt/api/programming_actuator/request`.'}, {'type': 'paragraph', 'content': "You can use network analysis tools such as Wireshark or tcpdump to capture and inspect DDS multicast and unicast UDP traffic on the robot's internal network interface (typically eth0)."}, {'type': 'list_item', 'content': 'Use tcpdump to capture DDS traffic on the internal interface: tcpdump -i eth0 udp port 7400'}, {'type': 'list_item', 'content': 'Filter for DDS topic messages related to `rt/api/programming_actuator/request` by inspecting the payloads for JSON-encoded messages with `api_id=1002`.'}, {'type': 'list_item', 'content': 'Check the filesystem on the robot for unexpected files under `/unitree/etc/programming/` which may indicate malicious code written by an attacker.'}, {'type': 'paragraph', 'content': 'Additionally, review physical controller keybindings for any unexpected or persistent bindings that could trigger execution of arbitrary code.'}] [2]

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Mitigation Strategies

[{'type': 'paragraph', 'content': "Immediate mitigation steps include isolating the robot's internal network to prevent unauthorized devices from joining the DDS domain 0 network."}, {'type': 'paragraph', 'content': "Ensure that the robot's internal network interface (eth0) is not accessible from untrusted networks or external interfaces (such as wlan0)."}, {'type': 'list_item', 'content': 'Implement network segmentation and firewall rules to block access to DDS multicast and unicast UDP ports (typically port 7400) from untrusted sources.'}, {'type': 'list_item', 'content': 'Monitor and audit the `/unitree/etc/programming/` directory for unauthorized files and remove any suspicious scripts.'}, {'type': 'list_item', 'content': 'Reset or reconfigure physical controller keybindings to remove any malicious bindings.'}, {'type': 'paragraph', 'content': 'Long-term mitigation requires applying patches from Unitree Robotics once available and enabling DDS authentication and authorization mechanisms.'}] [1, 2]

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