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Zhaofeng He

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Preprint Jul 2026

SafeRelBench: A Spatial-Relation-Aware Benchmark for Process-Level Safety in VLM-Driven Embodied Agents

Using SAFERELBENCH to evaluate seven open- and closed-source VLM-driven embodied agents, this work finds a substantial gap between task success and process-level safety compliance, and shows that safe embodied intelligence requires not only stronger perception and planning, but also reliable reasoning about how object relations shape risk during interaction.

Huaigang Yang, Ya Li, Min Ren et al. · 1 citation