# PIMbot: A Self-Adaptive Attack Framework for Adversarial Manipulation of Multi-Robot Reinforcement Learning

arXiv: https://arxiv.org/abs/2605.23027 · HTML: https://mlsanity.com/paper/2605.23027/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Adversarial robustness and RL in finance, one of 15 directions in Deep reinforcement learning methods.
- Builds on 48 of its 75 references that are in the map.
- First posted on arXiv 21 May 2026.

## Placed in

- Deep reinforcement learning methods / [Adversarial robustness and RL in finance](https://mlsanity.com/deeprl/adversarial-robustness-and-rl-in-finance/)

## Builds on (most cited first, 30 of 48)

- [QMIX: Monotonic Value Function Factorisation for Deep Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1803.11485/) (2018)
- [The StarCraft Multi-Agent Challenge](https://mlsanity.com/paper/1902.04043/) (2019)
- [Learning to Communicate with Deep Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1605.06676/) (2016)
- [Multi-Agent Reinforcement Learning: A Selective Overview of Theories and Algorithms](https://mlsanity.com/paper/1911.10635/) (2019)
- [Value-Decomposition Networks For Cooperative Multi-Agent Learning](https://mlsanity.com/paper/1706.05296/) (2017)
- [QTRAN: Learning to Factorize with Transformation for Cooperative Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1905.05408/) (2019)
- [Learning Multiagent Communication with Backpropagation](https://mlsanity.com/paper/1605.07736/) (2016)
- [QPLEX: Duplex Dueling Multi-Agent Q-Learning](https://mlsanity.com/paper/2008.01062/) (2020)
- [Learning with Opponent-Learning Awareness](https://mlsanity.com/paper/1709.04326/) (2017)
- [PettingZoo: Gym for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2009.14471/) (2020)
- [Adversarial Policies: Attacking Deep Reinforcement Learning](https://mlsanity.com/paper/1905.10615/) (2019)
- [Mean Field Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/1802.05438/) (2018)
- [MAVEN: Multi-Agent Variational Exploration](https://mlsanity.com/paper/1910.07483/) (2019)
- [Learning when to Communicate at Scale in Multiagent Cooperative and Competitive Tasks](https://mlsanity.com/paper/1812.09755/) (2018)
- [On Learning Intrinsic Rewards for Policy Gradient Methods](https://mlsanity.com/paper/1804.06459/) (2018)
- [Dealing with Non-Stationarity in Multi-Agent Deep Reinforcement Learning](https://mlsanity.com/paper/1906.04737/) (2019)
- [Learning to Incentivize Other Learning Agents](https://mlsanity.com/paper/2006.06051/) (2020)
- [NICGSlowDown: Evaluating the Efficiency Robustness of Neural Image Caption Generation Models](https://mlsanity.com/paper/2203.15859/) (2022)
- [Adversarial Attacks On Multi-Agent Communication](https://mlsanity.com/paper/2101.06560/) (2021)
- [Dynamic Benchmarking of Reasoning Capabilities in Code Large Language Models Under Data Contamination](https://mlsanity.com/paper/2503.04149/) (2025)
- [What is the Solution for State-Adversarial Multi-Agent Reinforcement Learning?](https://mlsanity.com/paper/2212.02705/) (2022)
- [Adaptive Incentive Design with Multi-Agent Meta-Gradient Reinforcement Learning](https://mlsanity.com/paper/2112.10859/) (2021)
- [Attacking Cooperative Multi-Agent Reinforcement Learning by Adversarial Minority Influence](https://mlsanity.com/paper/2302.03322/) (2023)
- [White-Box Multi-Objective Adversarial Attack on Dialogue Generation](https://mlsanity.com/paper/2305.03655/) (2023)
- [Dynamic Transformers Provide a False Sense of Efficiency](https://mlsanity.com/paper/2305.12228/) (2023)
- [TTSlow: Slow Down Text-to-Speech with Efficiency Robustness Evaluations](https://mlsanity.com/paper/2407.01927/) (2024)
- [RT-LM: Uncertainty-Aware Resource Management for Real-Time Inference of Language Models](https://mlsanity.com/paper/2309.06619/) (2023)
- [Safety Alignment in NLP Tasks: Weakly Aligned Summarization as an In-Context Attack](https://mlsanity.com/paper/2312.06924/) (2023)
- [Efficient Adversarial Attacks on Online Multi-agent Reinforcement Learning](https://mlsanity.com/paper/2307.07670/) (2023)
- [Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots](https://mlsanity.com/paper/2111.06482/) (2021)

## Built on by (most cited first, 1 of 1)

- [Boosting Transferable Adversarial Attacks against Deep Reinforcement Learning](https://mlsanity.com/paper/2610.06083/) (2026)

## Abstract (arXiv)

Recent research has demonstrated the potential of reinforcement learning in effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interest and collective benefits. However, environmental factors such as miscommunication and adversarial robots can impact cooperation, making it crucial to explore how multi-robot communication can be manipulated to achieve different outcomes. This paper presents PIMbot, a framework that manipulates outcomes via two complementary levers: (i) incentive manipulation of the reward channel and (ii) policy manipulation of an agent's own actions. An adaptive multi-objective controller balances these levers in an online manner. Our work introduces a novel approach to manipulation in recent multi-agent RL social dilemmas that utilize a unique reward function for incentivization. By utilizing our proposed PIMbot mechanisms, a robot is able to manipulate the social dilemma environment effectively. Comprehensive experimental results demonstrate the effectiveness of our proposed methods in the Gazebo-simulated multi-robot environment. Moreover, a real embedded device case study on NVIDIA Jetson Orin Nano quantifies system cost and validates PIMbot's effectiveness on realistic autonomous embedded systems scenarios beyond simulation. Together, these results position PIMbot as a rigorous stress-test tool exposing critical vulnerabilities in multi-robot cooperative tasks.