VulnerabilityPublished 23 Sep 2026

CVE-2026-96456: Pollen Robotics Reachy Mini · Race Condition

Affects Pollen Robotics Reachy MiniSource CVE Database V5

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Mentioned vulnerabilities

Not known to be exploited · CVSS 6.3 Medium.

Data as of 5 Nov 2026, 23:24 UTC

CVSS 3.1 base score

6.3Medium

How severe the flaw is on the 0–10 CVSS scale.

EPSS: 0.2% chance of exploitation in 30 days – higher than 16% of CVEsExploit Prediction Scoring System: the likelihood attackers will use this flaw soon.

CVSS:3.1/AV:A/AC:L/PR:N/UI:R/S:C/C:L/I:L/A:L

Attack Vector: Adjacent
Attack Complexity: Low
Privileges Required: None
User Interaction: Required
Scope: Changed
Confidentiality: Low
Integrity: Low
Availability: Low

Bold values are the worst case: easiest to exploit or largest impact.

Attack Vector: Adjacent: The vulnerable component is bound to the network stack, but the attack is limited at the protocol level to a logically adjacent topology. This can mean an attack must be launched from the same shared physical (e.g., Bluetooth or IEEE 802.11) or logical (e.g., local IP subnet) network, or from within a secure or otherwise limited administrative domain (e.g., MPLS, secure VPN to an administrative network zone).
Attack Complexity: Low: Specialized access conditions or extenuating circumstances do not exist. An attacker can expect repeatable success against the vulnerable component.
Privileges Required: None: The attacker is unauthorized prior to attack, and therefore does not require any access to settings or files to carry out an attack.
User Interaction: Required: Successful exploitation of this vulnerability requires a user to take some action before the vulnerability can be exploited.
Scope: Changed: An exploited vulnerability can affect resources beyond the security scope managed by the security authority of the vulnerable component. In this case, the vulnerable component and the impacted component are different and managed by different security authorities.
Confidentiality: Low: There is some loss of confidentiality. Access to some restricted information is obtained, but the attacker does not have control over what information is obtained, or the amount or kind of loss is limited. The information disclosure does not cause a direct, serious loss to the impacted component.
Integrity: Low: Modification of data is possible, but the attacker does not have control over the consequence of a modification, or the amount of modification is limited. The data modification does not have a direct, serious impact on the impacted component.
Availability: Low: Performance is reduced or there are interruptions in resource availability. Even if repeated exploitation of the vulnerability is possible, the attacker does not have the ability to completely deny service to legitimate users. The resources in the impacted component are either partially available all of the time, or fully available only some of the time, but overall there is no direct, serious consequence to the impacted component.

Definitions: FIRST CVSS v3.1 specification.

Exploitation evidence

Disclosed: evidence found.
CVE published 23 Sep 2026
Detectable: no evidence on record.
No public nuclei template indexed
Weaponized: no evidence on record.
No public exploit code indexed in Metasploit or Exploit-DB
Exploited in the wildExploited: no evidence on record.
Not in CISA KEV and no source reports exploitation
Observed by OffSeq MirageSeen by Mirage: no evidence on record.
No attack traffic recorded by OffSeq Mirage sensors

A missing step is not evidence of safety. Sources: cve.org (opens in a new tab), the Metasploit, Exploit-DB and nuclei-templates index as of 6 Nov 2026.

Disclosed: The CVE record is public on cve.org. Its publication is t = 0.
Detectable: A public nuclei template can find exposed instances, for defenders and attackers alike.
Weaponized: A Metasploit exploit module or Exploit-DB entry exists (Metasploit scanner modules do not count), or CISA SSVC or the CVSS exploit maturity reports a public proof of concept.
Exploited in the wild: CISA KEV lists it, CISA SSVC rates exploitation active, or a source reports attacks.
Observed by OffSeq Mirage: OffSeq Mirage honeypot sensors recorded attack traffic for this CVE, or found exposed hosts without attack traffic.

Moments are spaced evenly, not to scale; a dashed line marks a gap of six months or more. Deltas count from t = 0. Sources that give only a date (CISA KEV, Exploit-DB, or a time of exactly 00:00Z) read “same day” rather than hours. Metasploit modules carry the flaw’s disclosure date, not their release date, and nuclei templates carry no date, so both appear above but not on the timeline.

What to do

Affected software

Product	Affected	Fixed in
Pollen RoboticsReachy Mini	Affected <=1.11.0	Fixed in–
PyPIreachy_mini`pkg:pypi/reachy_mini`Other threats	Affected <=1.11.0	Fixed in–

Check your own hosts for these packages with threat-finder (opens in a new tab), our free open-source scanner.

AI-suggested

Until a fix is available, limit Bluetooth exposure and avoid using the Reachy Mini in untrusted environments. Monitor vendor communications for updates on remediation.

Description

The Reachy Mini Bluetooth service asks a connecting device for a PIN before it will accept commands. The check protects the session but not the caller, so an attacker in Bluetooth range can ride along on someone else's successful authentication. The authenticated state is kept in a single shared flag on the service instance rather than per device. BlueZ passes the calling device's identity to the characteristic write handler in the options argument, but WriteValue(self, value, options) in src/reachy_mini/daemon/app/services/bluetooth/bluetooth_service.py ignores options entirely. The handler therefore has no idea which device sent a given write, and it cannot tell the authenticated one from any other. Once any device completes the PIN exchange, the flag is set and every nearby device can send CMD_ commands until it resets. An attacker simply waits within radio range for a legitimate user to authenticate, then writes commands into the same window. No PIN is ever guessed or brute-forced. This is the second step of a three-step chain that JFrog documented against the robot. The first is the unrestricted file upload in the media sounds API, tracked as CVE-2026-55419, which places an attacker-controlled script on the filesystem. This issue then provides command access over Bluetooth. The third is the Bluetooth command handler path traversal, tracked as CVE-2026-62661, which runs that script as root.

Impact

An attacker within Bluetooth range can bypass authentication by leveraging the shared authentication flag, allowing unauthorized command execution on the Reachy Mini robot. This can lead to partial confidentiality, integrity, and availability impacts as indicated by the CVSS vector. The vulnerability does not require guessing or brute forcing the PIN, making exploitation easier once a legitimate user authenticates.

Summary

The Reachy Mini Bluetooth service requests a PIN from connecting devices to authenticate sessions. However, the authenticated state is stored in a single shared flag for the entire service instance instead of per device. The WriteValue handler ignores the caller's identity, allowing any nearby device to send commands once any device has authenticated. This race condition (CWE-362) enables an attacker to bypass authentication controls and issue commands without PIN verification. It is the second step in a three-step attack chain involving an unrestricted file upload (CVE-2026-55419) and a Bluetooth command handler path traversal (CVE-2026-62661).

CWE-362Concurrent Execution using Shared Resource with Improper Synchronization (Race Condition) (opens in a new tab)
Class weaknessLikelihood of exploit: MediumOWASP Top 10 A06:2025: Insecure Design (opens in a new tab)
The product contains a concurrent code sequence that requires temporary, exclusive access to a shared resource, but a timing window exists in which the shared resource can be modified by another code sequence operating concurrently.
Architecture and Design
In languages that support it, use synchronization primitives. Only wrap these around critical code to minimize the impact on performance.
Architecture and Design
Use thread-safe capabilities such as the data access abstraction in Spring.
Architecture and Design
Minimize the usage of shared resources in order to remove as much complexity as possible from the control flow and to reduce the likelihood of unexpected conditions occurring.
OWASP Cheat Sheets
Abuse Case (opens in a new tab)
Secure Design Principles (opens in a new tab)
OWASP ASVS 4.0.3
V1.11.2 (opens in a new tab)
Attack patterns
Leveraging Time-of-Check and Time-of-Use (TOCTOU) Race Conditions (opens in a new tab)
Leveraging Race Conditions (opens in a new tab)
From MITRE CWE, MITRE CAPEC and OWASP (Top 10, OpenCRE).
CWE-287Improper Authentication (opens in a new tab)
Class weaknessLikelihood of exploit: HighOWASP Top 10 A07:2025: Authentication Failures (opens in a new tab)
When an actor claims to have a given identity, the product does not prove or insufficiently proves that the claim is correct.
MITRE discourages mapping vulnerabilities to this broad entry; the root cause is usually a more specific weakness.
Architecture and Design · Libraries or Frameworks
Use an authentication framework or library such as the OWASP ESAPI Authentication feature.
OWASP Cheat Sheets
OWASP Authentication (opens in a new tab)
OWASP ASVS 4.0.3
V2.8.5 (opens in a new tab)
V2.8.4 (opens in a new tab)
V9.2.3 (opens in a new tab)
Attack patterns
Fake the Source of Data (opens in a new tab)
Utilizing REST's Trust in the System Resource to Obtain Sensitive Data (opens in a new tab)
Session Hijacking (opens in a new tab)
Token Impersonation (opens in a new tab)
Upload a Web Shell to a Web Server (opens in a new tab)
From MITRE CWE, MITRE CAPEC and OWASP (Top 10, OpenCRE).

References

Community reviews

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Exploitation evidence

What to do

Affected software

Description

AI analysisMachine-generated, updated 30 Sep 2026, 12:31 UTC

WeaknessesCWE-362, CWE-287

Technical details

References

Community reviews

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