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arXiv · 2506.00280

3D Gaussian Splat Vulnerabilities

Matthew Hull·Haoyang Yang·Pratham Mehta·Mansi Phute·Aeree Cho·Haoran Wang·Matthew Lau·Wenke Lee·Willian T. Lunardi·Martin Andreoni·Polo Chau
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Abstract

With 3D Gaussian Splatting (3DGS) being increasingly used in safety-critical applications, how can an adversary manipulate the scene to cause harm? We introduce CLOAK, the first attack that leverages view-dependent Gaussian appearances - colors and textures that change with viewing angle - to embed adversarial content visible only from specific viewpoints. We further demonstrate DAGGER, a targeted adversarial attack directly perturbing 3D Gaussians without access to underlying training data, deceiving multi-stage object detectors e.g., Faster R-CNN, through established methods such as projected gradient descent. These attacks highlight underexplored vulnerabilities in 3DGS, introducing a new potential threat to robotic learning for autonomous navigation and other safety-critical 3DGS applications.

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Matthew Hull, Haoyang Yang, Pratham Mehta, Mansi Phute, Aeree Cho, Haoran Wang, Matthew Lau, Wenke Lee, Willian T. Lunardi, Martin Andreoni, Polo Chau. 2025-05-30. 3D Gaussian Splat Vulnerabilities. https://arxiv.org/abs/2506.00280

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