Humanoid Security Platform

QEMU-based security verification & hardening platform for NVIDIA Jetson humanoid robots (L4T, OP-TEE, fTPM, dm-verity/IMA, PKCS#11 HSM, and Secure World mTLS).

🌐 한국어 문서 (Korean Documentation) | Official Documentation Portal

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1. Overview

• Background: Next-generation humanoid robots operate in close proximity to humans while powered by high-performance autonomous computing platforms (e.g., NVIDIA Jetson AGX Orin/Thor). A robust Defense-in-Depth security architecture is mandatory to mitigate physical tampering, supply-chain contamination, and unauthorized control injection.
• Platform Objective: Provide a containerized QEMU aarch64 (virt machine) security verification platform that emulates the complete NVIDIA JetPack (L4T) security stack with zero physical board dependency.

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2. Key Architecture & Features

💡 Click the diagram to open the Archify Interactive Viewer (HTML) with dark/light theme switching, path tracing, component focus, and vector export.

• Official L4T Release Integration:
  • Built upon NVIDIA JetPack 7.2.1 (Jetson Linux R39.2.1, Linux Kernel 6.8, Ubuntu 24.04 Noble, Jetson Thor & Orin) official Kernel, OP-TEE, and sample root filesystem.
• Dual-Target Kernel Configuration Strategy:
  • Three-tier configuration system: [L4T Base defconfig] + [security_hardening.config] + [qemu_compat.config] guaranteeing 100% security policy alignment between QEMU and physical Jetson hardware.
• OP-TEE fTPM & PKCS#11 Trusted Applications:
  • Houses Microsoft Reference (ms-tpm-20-ref) fTPM TA and OP-TEE pkcs11 TA backed by virtual eMMC RPMB replay-protected storage.
• Storage & Runtime Integrity (EROFS + dm-verity + IMA):
  • Immutable read-only EROFS rootfs verified by cryptographic dm-verity Merkle hash tree.
  • Linux IMA measures executed binaries into fTPM PCR 10 for tamper-proof remote attestation.
• Zero Plaintext Key Policy & SoftHSMv2:
  • Zero private keys (.pem, .key) committed to source code or git history.
  • Offline signing keys generated inside SoftHSMv2 (PKCS#11) tokens and referenced solely via RFC 7512 pkcs11: URIs.
• Secure World Cloud-Humanoid mTLS:
  • Robot identity private keys sealed within OP-TEE Secure World SRAM (non-extractable).
  • OpenSSL 3.x Provider transparently delegates TLS 1.3 handshake cryptographic signatures to Secure World.

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3. Quick Start

3.1. Prerequisites

• Docker 24.0+ & Docker Compose v2.x
• VS Code & Dev Containers Extension (Recommended)

3.2. Launch with VS Code Dev Container (Recommended)

1. Open this repository in VS Code.
2. Press F1 and select Dev Containers: Reopen in Container.
3. Toolchain automatically initialized inside container:
   • aarch64-linux-gnu-gcc cross-compiler
   • QEMU aarch64 emulator (virt machine with RPMB emulation)
   • SoftHSMv2, tpm2-tools, erofs-utils, ccache (20GB persistent cache volume)

3.3. Run from Host Terminal

# Execute build and test commands via container wrapper
./scripts/env_container.sh make help

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4. Directory Layout

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├── AGENTS.md                       # AI Agent instructions, architecture summary & writing rules
├── README.md                       # Project introduction & architecture overview (Korean)
├── .gitignore                      # Cache, build artifacts, and private key exclusions
├── .devcontainer/                  # VS Code Dev Container configuration
├── docker/                         # Cross-toolchain Dockerfile & Compose definitions
├── docs/                           # Architecture, requirements, threat models & checklists (Korean)
│   ├── en/                         # English documentation
│   └── diagrams/                   # Archify validated diagrams (JSON-IR, HTML, SVG)
├── starlight/                      # Astro Starlight technical documentation portal
├── tools/
│   └── archify/                    # Archify CLI renderer & SVG extraction tool
├── scripts/                        # Fetch, build, and QEMU execution wrappers
├── configs/                        # Kernel & OP-TEE configuration fragments
├── keys_hsm/                       # SoftHSMv2 setup & PKCS#11 signing utilities
├── apps/                           # mTLS client & Attestation agent sources
└── tests/                          # Automated pytest verification suites on QEMU

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5. Documentation Links

Document	Korean (국문)	English (영문)
Master Roadmap Checklist	roadmap_checklist.md	roadmap_checklist.md
Security Requirements (SRD)	requirements.md	requirements.md
System Architecture	architecture.md	architecture.md
Key Management & HSM / mTLS	key_management_hsm.md	key_management_hsm.md
Threat Modeling (STRIDE)	threat_model.md	threat_model.md
Archify Diagrams Collection	Archify Diagrams	Archify Diagrams

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6. License

Distributed under the Apache-2.0 License.