JailWAM: Jailbreaking World Action Models in Robot Control

arXiv:2604.05498v2 Announce Type: replace Abstract: World Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation, enabling physical interaction across diverse tasks and environments. However, their ability to directly follow high-level instructions and execute physical actions also creates potential safety risks, as adversarially designed instructions may induce unsafe robot behaviors. To systematically assess these risks, we propose JailWAM, the first jailbreak evaluation framework for WAMs. In JailWAM, we integrate three key innovations: Firstly, to address the difficulty of evaluating heterogeneous low-level action outputs, we introduce Visual-Trajectory Mapping, which transforms model-specific actions into unified visual trajectory representations, thereby facilitating consistent risk assessment across WAM architectures. Secondly, to provide efficient and fine-grained assessment of physical risks, we develop a Risk Discriminator supervised by three safety levels ordered according to physical consequence: Safety Compliance, Motion Failure, and Catastrophic Risk. This severity-aware formulation enables the risk discriminator to distinguish different physical outcomes from visual trajectories and support scalable risk screening. Thirdly, to reduce the cost of exhaustively executing adversarial candidates, we design a Dual-Path Verification Strategy that combines rapid risk screening with closed-loop physical simulation, restricting computationally expensive verification to candidates with potential safety risks. Extensive experiments in the RoboTwin simulation environment show that JailWAM achieves an 84.2% attack success rate on LingBot-VA, which indicates that WAMs may be susceptible to jailbreak attacks that induce unsafe physical behaviors. Our findings may motivate further research on the safety evaluation and alignment of future embodied robotic systems.

Source: arXiv cs.RO | 2026-08-14