Instituto Nacional de ciberseguridad. Sección Incibe
Instituto Nacional de Ciberseguridad. Sección INCIBE-CERT

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CVE-2026-27509

Severity CVSS v4.0:
HIGH
Type:
CWE-306 Missing Authentication for Critical Function
Publication date:
26/02/2026
Last modified:
12/03/2026

Description

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.

Impact

Vector 4.0
CVSS:4.0/AV:A/AC:L/AT:N/PR:N/UI:A/VC:H/VI:H/VA:H/SC:N/SI:N/SA:N CVSS v4.0 Severity and Metrics:

Base Score: 8.50 HIGH
Vector: CVSS:4.0/AV:A/AC:L/AT:N/PR:N/UI:A/VC:H/VI:H/VA:H/SC:N/SI:N/SA:N

Attack Vector (AV): Adjacent
Attack Complexity (AC): Low
Attack Requirements (AT): None
Privileges Required (PR): None
User Interaction (UI): Active
Confidentiality (VC): High
Integrity (VI): High
Availability (VA): High
Confidentiality (SC): None
Integrity (SI): None
Availability (SA): None

Base Score 4.0
8.50
Severity 4.0
HIGH
Vector 3.x
CVSS:3.1/AV:A/AC:L/PR:N/UI:R/S:U/C:H/I:H/A:H CVSS v3.1 Severity and Metrics:

Base Score: 8.00 HIGH
Vector: CVSS:3.1/AV:A/AC:L/PR:N/UI:R/S:U/C:H/I:H/A:H

Attack Vector (AV): Adjacent
Attack Complexity (AC): Low
Privileges Required (PR): None
User Interaction (UI): Required
Scope (S): Unchanged
Confidentiality (C): High
Integrity (I): High
Availability (A): High

Base Score 3.x
8.00
Severity 3.x
HIGH

Vulnerable products and versions

CPE From Up to
cpe:2.3:o:unitree:go2_firmware:*:*:*:*:*:*:*:* 1.1.7 (including) 1.1.9 (including)
cpe:2.3:h:unitree:go2:-:*:*:*:*:*:*:*
cpe:2.3:o:unitree:go2_edu_firmware:1.1.11:*:*:*:*:*:*:*
cpe:2.3:h:unitree:go2_edu:-:*:*:*:*:*:*:*

To consult the complete list of CPE names with products and versions, see this page


References to Advisories, Solutions, and Tools