Unitree Go2 firmware versions V1.1.7 through V1.1.9 and V1.1.11 (EDU) do not implement DDS authentication or authorization for the Eclipse CycloneDDS topic rt/api/programming_actuator/request handled by actuator_manager.py. A network-adjacent, unauthenticated attacker can join DDS domain 0 and publish a crafted message (api_id=1002) containing arbitrary Python, which the robot writes to disk under /unitree/etc/programming/ and binds to a physical controller keybinding. When the keybinding is pressed, the code executes as root and the binding persists across reboots.
Attack Parameters
Attack Vector
Adjacent
Requires local network access
Attack Complexity
Low
Easy to exploit
Attack Requirements
None
No additional conditions
Privileges Required
None
No privileges needed
User Interaction
Active
User action required
Impact Assessment
Confidentiality
High
Complete data leak
Integrity
High
Complete data modification
Availability
High
Complete denial of service
CVSS Vector v4.0