# Safety of Embodied Navigation: A Survey

arXiv: https://arxiv.org/abs/2508.05855 · HTML: https://mlsanity.com/paper/2508.05855/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 50 references that are in the map.
- First posted on arXiv 7 Aug 2025.

## Builds on (most cited first, 30 of 40)

- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [Jailbroken: How Does LLM Safety Training Fail?](https://mlsanity.com/paper/2307.02483/) (2023)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Adversarial Patch](https://mlsanity.com/paper/1712.09665/) (2017)
- [Privacy and Robustness in Federated Learning: Attacks and Defenses](https://mlsanity.com/paper/2012.06337/) (2020)
- [ShapeShifter: Robust Physical Adversarial Attack on Faster R-CNN Object Detector](https://mlsanity.com/paper/1804.05810/) (2018)
- [BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation](https://mlsanity.com/paper/2403.09227/) (2024)
- [SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents](https://mlsanity.com/paper/2412.13178/) (2024)
- [GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation](https://mlsanity.com/paper/2404.06609/) (2024)
- [A Survey of Safety and Trustworthiness of Large Language Models through the Lens of Verification and Validation](https://mlsanity.com/paper/2305.11391/) (2023)
- [Vision-and-Language Navigation Today and Tomorrow: A Survey in the Era of Foundation Models](https://mlsanity.com/paper/2407.07035/) (2024)
- [Safeguarding Large Language Models: A Survey](https://mlsanity.com/paper/2406.02622/) (2024)
- [FCA: Learning a 3D Full-coverage Vehicle Camouflage for Multi-view Physical Adversarial Attack](https://mlsanity.com/paper/2109.07193/) (2021)
- [Adversarial Attacks Beyond the Image Space](https://mlsanity.com/paper/1711.07183/) (2017)
- [Memory-Augmented Reinforcement Learning for Image-Goal Navigation](https://mlsanity.com/paper/2101.05181/) (2021)
- [LLM-Assist: Enhancing Closed-Loop Planning with Language-Based Reasoning](https://mlsanity.com/paper/2401.00125/) (2023)
- [EmbodiedEval: Evaluate Multimodal LLMs as Embodied Agents](https://mlsanity.com/paper/2501.11858/) (2025)
- [LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents](https://mlsanity.com/paper/2402.08178/) (2024)
- [Physically Realizable Natural-Looking Clothing Textures Evade Person Detectors via 3D Modeling](https://mlsanity.com/paper/2307.01778/) (2023)
- [Exploring the Robustness of Decision-Level Through Adversarial Attacks on LLM-Based Embodied Models](https://mlsanity.com/paper/2405.19802/) (2024)
- [Physical Adversarial Textures that Fool Visual Object Tracking](https://mlsanity.com/paper/1904.11042/) (2019)
- [ACTIVE: Towards Highly Transferable 3D Physical Camouflage for Universal and Robust Vehicle Evasion](https://mlsanity.com/paper/2308.07009/) (2023)
- [PatchZero: Defending against Adversarial Patch Attacks by Detecting and Zeroing the Patch](https://mlsanity.com/paper/2207.01795/) (2022)
- [EARBench: Towards Evaluating Physical Risk Awareness for Task Planning of Foundation Model-based Embodied AI Agents](https://mlsanity.com/paper/2408.04449/) (2024)
- [Towards Transferable Targeted 3D Adversarial Attack in the Physical World](https://mlsanity.com/paper/2312.09558/) (2023)
- [Generative Dynamic Patch Attack](https://mlsanity.com/paper/2111.04266/) (2021)
- [Towards Benchmarking and Assessing Visual Naturalness of Physical World Adversarial Attacks](https://mlsanity.com/paper/2305.12863/) (2023)
- [SPAA: Stealthy Projector-based Adversarial Attacks on Deep Image Classifiers](https://mlsanity.com/paper/2012.05858/) (2020)
- [ReALFRED: An Embodied Instruction Following Benchmark in Photo-Realistic Environments](https://mlsanity.com/paper/2407.18550/) (2024)
- [Robot Collapse: Supply Chain Backdoor Attacks Against VLM-based Robotic Manipulation](https://mlsanity.com/paper/2411.11683/) (2024)

## Built on by (most cited first, 10 of 10)

- [Safety in Embodied AI: A Survey of Risks, Attacks, and Defenses](https://mlsanity.com/paper/2605.02900/) (2026)
- [CluCERT: Certifying LLM Robustness via Clustering-Guided Denoising Smoothing](https://mlsanity.com/paper/2512.08967/) (2025)
- [ForesightSafety Bench: A Frontier Risk Evaluation and Governance Framework towards Safe AI](https://mlsanity.com/paper/2602.14135/) (2026)
- [LABSHIELD: A Multimodal Benchmark for Safety-Critical Reasoning and Planning in Scientific Laboratories](https://mlsanity.com/paper/2603.11987/) (2026)
- [ForesightSafety-VLA: A Unified Diagnostic Safety Benchmark for Vision-Language-Action Models](https://mlsanity.com/paper/2606.27079/) (2026)
- [Measuring Physical-World Privacy Awareness of Large Language Models: An Evaluation Benchmark](https://mlsanity.com/paper/2510.02356/) (2025)
- [EmbodiedGovBench: A Benchmark for Governance, Recovery, and Upgrade Safety in Embodied Agent Systems](https://mlsanity.com/paper/2604.11174/) (2026)
- [Security of World-Model-Based Embodied AI: A Lifecycle of Threats, Defenses, and Evaluation](https://mlsanity.com/paper/2607.28226/) (2026)
- [A Comprehensive Survey and Systematic Real-World Evaluation of Embodied Vision-and-Language Navigation](https://mlsanity.com/paper/2607.09792/) (2026)
- [AdvNav: Behavior-Guided Black-Box Adversarial Attacks on Vision-Language Navigation](https://mlsanity.com/paper/2607.11063/) (2026)

## Abstract (arXiv)

As large language models (LLMs) continue to advance and gain influence, the development of embodied AI has accelerated, drawing significant attention, particularly in navigation scenarios. Embodied navigation requires an agent to perceive, interact with, and adapt to its environment while moving toward a specified target in unfamiliar settings. However, the integration of embodied navigation into critical applications raises substantial safety concerns. Given their deployment in dynamic, real-world environments, ensuring the safety of such systems is critical. This survey provides a comprehensive analysis of safety in embodied navigation from multiple perspectives, encompassing attack strategies, defense mechanisms, and evaluation methodologies. Beyond conducting a comprehensive examination of existing safety challenges, mitigation technologies, and various datasets and metrics that assess effectiveness and robustness, we explore unresolved issues and future research directions in embodied navigation safety. These include potential attack methods, mitigation strategies, more reliable evaluation techniques, and the implementation of verification frameworks. By addressing these critical gaps, this survey aims to provide valuable insights that can guide future research toward the development of safer and more reliable embodied navigation systems. Furthermore, the findings of this study have broader implications for enhancing societal safety and increasing industrial efficiency.