# CVE-2026-96456: Reachy Mini Bluetooth PIN authentication can be bypassed by racing an authenticated device

> Attackers can bypass Bluetooth PIN authentication by racing a legitimate user, gaining command access to the robot.

- **Severity:** Medium 6.3 (`CVSS:3.1/AV:A/AC:L/PR:N/UI:R/S:C/C:L/I:L/A:L`)
- **Exploited in the wild:** Not known
- **Login needed:** Not needed
- **Attackable:** Local or same network only
- **Victim action needed:** A user has to click or open something
- **Fix available:** No
- **Published:** 23 Sep 2026
- **Updated:** 23 Sep 2026
- **Also known as:** GHSA-993g-hgjh-whmf, GHSA-w8hv-46m4-pm2j

## What is CVE-2026-96456?

CVE-2026-96456 is a medium-severity vulnerability in Pollen Robotics Reachy Mini, published on 23 Sep 2026. It can only be exploited from the same machine or local network, and only if a user opens a file or follows a link.

### Official 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.

Weakness: CWE-362 (Concurrent Execution using Shared Resource with Improper Synchronization), CWE-287 (Improper Authentication)

## Which versions are affected by CVE-2026-96456?


## How do I fix CVE-2026-96456?

No fix has been published for CVE-2026-96456 yet. Limit exposure of the affected software until one is available.

## Is CVE-2026-96456 being exploited?

There is no known exploitation of CVE-2026-96456 in the wild and no public exploit code.

## Fix prompt for AI coding agents

```text
Check this codebase for CVE-2026-96456 and fix it if it is affected.

What it is: CVE-2026-96456 is a medium-severity vulnerability in Pollen Robotics Reachy Mini, published on 23 Sep 2026. It can only be exploited from the same machine or local network, and only if a user opens a file or follows a link.
Exploitation: There is no known exploitation of CVE-2026-96456 in the wild and no public exploit code.

Affected product: Pollen Robotics Reachy Mini. No package-level version data is available, so check the vendor advisory linked from the reference page.

Task:
1. Search the dependency manifests and lockfiles (for example package.json, package-lock.json, requirements.txt, poetry.lock, uv.lock, pom.xml, build.gradle, go.mod, Cargo.lock, Gemfile.lock) and any Dockerfiles for the affected packages, including transitive dependencies.
2. If an affected version is in use, upgrade it to the fixed version for its release line with the project's package manager, so the lockfile is regenerated. Prefer the smallest upgrade that fixes it.
3. If there is no fix, or the upgrade would break the build, do not guess: explain the risk and the safest workaround instead.
4. Run the tests and summarise what changed and why.
5. If nothing in the project is affected, say so and change nothing.

Reference: https://insights.sbomify.com/CVE-2026-96456/ (Markdown: https://insights.sbomify.com/CVE-2026-96456/index.md)
```

## Sources

- CVE record: https://www.cve.org/CVERecord?id=CVE-2026-96456
- NVD: https://nvd.nist.gov/vuln/detail/CVE-2026-96456
- OSV: https://osv.dev/vulnerability/CVE-2026-96456

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From sbomify Insights: https://insights.sbomify.com/CVE-2026-96456/
Summaries are generated and may contain mistakes; the official description above is the record.