# Benchmarking LLM Privacy Recognition for Social Robot Decision Making

arXiv: https://arxiv.org/abs/2507.16124 · HTML: https://mlsanity.com/paper/2507.16124/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 39 of its 116 references that are in the map.
- First posted on arXiv 22 Jul 2025.

## Builds on (most cited first, 30 of 39)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [Evaluating Large Language Models Trained on Code](https://mlsanity.com/paper/2107.03374/) (2021)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [Program Synthesis with Large Language Models](https://mlsanity.com/paper/2108.07732/) (2021)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Beyond the Imitation Game: Quantifying and extrapolating the capabilities of language models](https://mlsanity.com/paper/2206.04615/) (2022)
- [Not what you've signed up for: Compromising Real-World LLM-Integrated Applications with Indirect Prompt Injection](https://mlsanity.com/paper/2302.12173/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Length-Controlled AlpacaEval: A Simple Way to Debias Automatic Evaluators](https://mlsanity.com/paper/2404.04475/) (2024)
- [XTREME: A Massively Multilingual Multi-task Benchmark for Evaluating Cross-lingual Generalization](https://mlsanity.com/paper/2003.11080/) (2020)
- [Identifying the Risks of LM Agents with an LM-Emulated Sandbox](https://mlsanity.com/paper/2309.15817/) (2023)
- [R-Judge: Benchmarking Safety Risk Awareness for LLM Agents](https://mlsanity.com/paper/2401.10019/) (2024)
- [Membership Inference Attacks against Language Models via Neighbourhood Comparison](https://mlsanity.com/paper/2305.18462/) (2023)
- [Can LLMs Keep a Secret? Testing Privacy Implications of Language Models via Contextual Integrity Theory](https://mlsanity.com/paper/2310.17884/) (2023)
- [Beyond Memorization: Violating Privacy Via Inference with Large Language Models](https://mlsanity.com/paper/2310.07298/) (2023)
- [Large Language Models for Robotics: A Survey](https://mlsanity.com/paper/2311.07226/) (2023)
- [Practical Membership Inference Attacks against Fine-tuned Large Language Models via Self-prompt Calibration](https://mlsanity.com/paper/2311.06062/) (2023)
- [AirGapAgent: Protecting Privacy-Conscious Conversational Agents](https://mlsanity.com/paper/2405.05175/) (2024)
- [Red teaming ChatGPT via Jailbreaking: Bias, Robustness, Reliability and Toxicity](https://mlsanity.com/paper/2301.12867/) (2023)
- [AgentDAM: Privacy Leakage Evaluation for Autonomous Web Agents](https://mlsanity.com/paper/2503.09780/) (2025)
- [Question Answering for Privacy Policies: Combining Computational and Legal Perspectives](https://mlsanity.com/paper/1911.00841/) (2019)
- [PolicyQA: A Reading Comprehension Dataset for Privacy Policies](https://mlsanity.com/paper/2010.02557/) (2020)
- [LLM as A Robotic Brain: Unifying Egocentric Memory and Control](https://mlsanity.com/paper/2304.09349/) (2023)
- [Privacy Policies over Time: Curation and Analysis of a Million-Document Dataset](https://mlsanity.com/paper/2008.09159/) (2020)
- [LLM-Driven Robots Risk Enacting Discrimination, Violence, and Unlawful Actions](https://mlsanity.com/paper/2406.08824/) (2024)
- [Discovering Smart Home Internet of Things Privacy Norms Using Contextual Integrity](https://mlsanity.com/paper/1805.06031/) (2018)

## Built on by (most cited first, 4 of 4)

- [Long Context, Less Focus: A Scaling Gap in LLMs Revealed through Privacy and Personalization](https://mlsanity.com/paper/2602.15028/) (2026)
- [Personalizing Agent Privacy Decisions via Logical Entailment](https://mlsanity.com/paper/2512.05065/) (2025)
- [Position: Embodied AI Requires a Privacy-Utility Trade-off](https://mlsanity.com/paper/2605.05017/) (2026)
- [Towards Trustworthy Physical Intelligence: From Theory to Practice Across Life Cycle](https://mlsanity.com/paper/2607.22877/) (2026)

## Abstract (arXiv)

While robots have previously utilized rule-based systems or probabilistic models for user interaction, the rapid evolution of large language models (LLMs) presents new opportunities to develop LLM-powered robots for enhanced human-robot interaction (HRI). To fully realize these capabilities, however, robots need to collect data such as audio, fine-grained images, video, and locations. As a result, LLMs often process sensitive personal information, particularly within private environments, such as homes. Given the tension between utility and privacy risks, evaluating how current LLMs manage sensitive data is critical. Specifically, we aim to explore the extent to which out-of-the-box LLMs are privacy-aware in the context of household robots. In this work, we present a set of privacy-relevant scenarios developed using the Contextual Integrity (CI) framework. We first surveyed users' privacy preferences regarding in-home robot behaviors and then examined how their privacy orientations affected their choices of these behaviors (N = 450). We then provided the same set of scenarios and questions to state-of-the-art LLMs (N = 10) and found that the agreement between humans and LLMs was generally low. To further investigate the capabilities of LLMs as potential privacy controllers, we implemented four additional prompting strategies and compared their results. We discuss the performance of the evaluated models as well as the implications and potential of AI privacy awareness in human-robot interaction.