The paper introduces Contextual Safety Filtering (CSF), a training‑free method that enforces natural‑language safety rules on text‑conditioned motion generators by comparing generated trajectories to safe and unsafe reference paths. CSF uses an affine safety value derived from these references and a safe reference tracking CBF‑QP to activate rules in both explicit and scene‑triggered unsafe scenarios. Experiments on four pretrained generators show CSF reduces danger‑event rates by up to 90% while preserving 88‑100% of benign motions, and a real‑world Unitree G1 robot demonstrates successful prevention of unsafe motions in diverse human and object interaction settings.
By Lizhi Yang, Yiling Hou, Yao Tang, Junheng Li, Daniel Weng, Blake Werner, Aaron D. Ames
arXiv:2608.21928v1 Announce Type: new
Abstract: In embodied AI, safety risk can be latent: a benign instruction and a safe scene become hazardous only when composed. Prior work has advanced embodied...
By Zhesheng Zhang, Jiahao Lu, Wei Liu, Cong Pan, Jianhua Yang, Yixiang Chen, Hongyuan Yu, Mengqi Zhang, Kailin Lyu, Zhumin Chen, Keji He
arXiv:2606. 05290v1 Announce Type: cross Abstract: Recent progress in generative modeling has made safety control a central challenge, yet existing approaches remain largely model-specific, requiring retraining or tailored interventions for each new architecture.
By Tobia Poppi, Silvia Cappelletti, Sara Sarto, Florian Schiffers, Garin Kessler, Marcella Cornia, Lorenzo Baraldi, Rita Cucchiara
arXiv:2607. 14543v1 Announce Type: cross Abstract: Vision-language models (VLMs) are increasingly used as the reasoning backbone of embodied agents, enabling robots to interpret visual scenes, follow language instructions, and plan multi-step actions.
By Huaigang Yang, Ya Li, Min Ren, Bo Dai, Zhenliang Zhang, Zhaofeng He
arXiv:2607. 00218v1 Announce Type: cross Abstract: Vision-language models (VLMs) are now proposed as runtime safety guards for embodied agents in homes and factories.
By Siddhant Panpatil, Arth Singh, Mijin Koo, Chaeyun Kim, Haon Park, Dasol Choi
arXiv:2607. 18325v1 Announce Type: cross Abstract: Modern safety-critical systems increasingly rely on human-robot interaction to reduce disaster risk and support decision-making during emergencies.
By Murali Indukuri, Mohammad Eskandari, Sree Nitya Kollu, Stephanie Lukin, Cynthia Matuszek
arXiv:2607. 16247v1 Announce Type: new Abstract: While Vision-Language Models (VLMs) have empowered embodied agents to execute complex household tasks, they struggle to proactively handle dynamically emerging hazards during closed-loop interactions.
By Bingrui Sima, Lizhong Wang, Xiaoya Lu, Kun He, Xiao Yang
arXiv:2610.07774v1 Announce Type: new
Abstract: Vision-language models (VLMs) face compositional safety risks where harmful intent emerges from the interaction between visual and textual inputs. As m...
By Ziyuan Yang, Wenxuan Ding, Shangbin Feng, Yulia Tsvetkov
arXiv:2606. 05177v1 Announce Type: cross Abstract: Existing multimodal safety benchmarks focus solely on visual inputs and cannot assess Omni Large Language Models (LLMs) that process vision, audio, and text.
By Manh Luong, Tamas Abraham, Junae Kim, Amar Kaur, Rollin Omari, Gholamreza Haffari, Trang Vu, Lizhen Qu, Dinh Phung
arXiv:2510. 24411v3 Announce Type: replace Abstract: Computer-using agents powered by Vision-Language Models (VLMs) have demonstrated human-like capabilities in operating digital environments like mobile platforms.
By Qiushi Sun, Mukai Li, Zhoumianze Liu, Zhihui Xie, Fangzhi Xu, Zhangyue Yin, Kanzhi Cheng, Zehao Li, Zichen Ding, Qi Liu, Zhiyong Wu, Zhuosheng Zhang, Ben Kao, Lingpeng Kong
TRACE is a new benchmark that evaluates the safety of Large Reasoning Models (LRMs) across the entire inference pipeline, including prompts, reasoning traces, and final responses. It provides prompts in two languages covering nine risk categories and ten attack strategies, and for each prompt four LRMs generate traces and responses that are annotated for safety with supporting evidence extracted from the source text. Evaluation of 18 guardrail models on TRACE shows that detecting unsafe content in reasoning traces is much harder than in prompts or final responses, and that current models struggle to extract the necessary evidence.
By Zhenyu Wu, Siyuan Chen, Changchun Yang, Jiaqi Dong, Min Zhou, Ali Almadan, Talal Hammad, Faisal Wahbo, Aminullah Tora, Mona Alshahrani, Xin Gao
arXiv:2608. 09230v1 Announce Type: new Abstract: Industrial-safety understanding requires more than detecting workers, equipment, and personal protective equipment.
By Yuanchi Zhu, Kang An, Tengyue Wang, Zhongyu Yang, Chenxu Du, Xinqi Yang, Hebao Zhu, Bokai Zhao, Tianyu Liang, Ziliang Wang, Faqiang Qian, Yunli Yang, Weiyang Shi, Qibing Ren