arxivcs.ROcs.AI2026-07-16
SafeRelBench: A Spatial-Relation-Aware Benchmark for Process-Level Safety in VLM-Driven Embodied Agents
Huaigang Yang, Ya Li, Min Ren, Bo Dai, Zhenliang Zhang, Zhaofeng He
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. In household environments, however, safety depends not only on recognizing obje…