LiDAR spoofing — raw captures

Velodyne VLP-16 / VLP-32C and Hesai AT128 / XT32 packet captures (pcap) and videos from the physical experiments in

• LiDAR Spoofing Meets the New-Gen: Capability Improvements, Broken Assumptions, and New Attack Strategies (NDSS 2024) — Chosen Pattern Injection (CPI), the synchronized Physical Removal Attack (PRA) and High-Frequency Removal (HFR), in static and dynamic scenes
• On the Realism of LiDAR Spoofing Attacks against Autonomous Driving Vehicle at High Speed and Long Distance (NDSS 2025) — injection against a vehicle-mounted VLP-32C driving past the Moving Vehicle Spoofing (MVS) system, and adaptive HFR (A-HFR) against the pulse-fingerprinting Hesai AT128 / XT32, including an AT128 on a vehicle at 60 km/h
• SLAMSpoof: Practical LiDAR Spoofing Attacks on Localization Systems Guided by Scan Matching Vulnerability Analysis (ICRA 2025) — removal and fake-wall injection on a VLP-16, plus videos of the physical attack on a moving WHILL

Benign references are included where they were recorded.

Layout

scripts/manifest.py        which pcap / video belongs to which experiment (source paths on the lab shared drive)
scripts/build.py           reads each pcap -> metadata + SHA-256, zips it into release/, renders a bird's-eye mp4,
                           transcodes recorded / camera videos into docs/media/
scripts/page.template.html page template; scripts/build_page.py injects docs/data.json -> docs/index.html
scripts/hesai.py           Hesai XT32 / AT128 packet decoding (AT128 uses its angle-correction file)
scripts/release_assets.py  per-paper SHA256SUMS / release notes
scripts/pcapinfo.py        quick pcap inspector (model, return mode, duration)
docs/                      static website (GitHub Pages-ready): index.html, data.json, media/
release/                   one zip per pcap (not in git; attached to the GitHub Release)

Rebuild

pip install numpy pillow imageio-ffmpeg
python scripts/build.py                 # all experiments (or pass experiment ids)
sh scripts/build_pages.sh                # docs/index.html (NDSS'24), docs/ndss25.html, docs/icra25.html
python scripts/attack_check.py           # removal check for Hesai captures -> docs/attack_check.json

Each zip contains a single unmodified pcap; the SHA-256 on the site is that of the pcap.

Downloads

NDSS 2024 pcaps: v1.0 release. NDSS 2025 pcaps (and the AT128 angle-correction file): ndss25-v1.0 release. ICRA 2025 pcaps: icra25-v1.0 release. Browse them with videos: NDSS 2024 · NDSS 2025 · ICRA 2025.

Attack runs in which the attack did not take effect are not published (see the note in scripts/manifest.py).