# Measuring Physical-World Privacy Awareness of Large Language Models: An Evaluation Benchmark

arXiv: https://arxiv.org/abs/2510.02356 · HTML: https://mlsanity.com/paper/2510.02356/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 49 of its 70 references that are in the map.
- First posted on arXiv 27 Sep 2025.

## Builds on (most cited first, 30 of 49)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Extracting Training Data from Large Language Models](https://mlsanity.com/paper/2012.07805/) (2020)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Gemma 3 Technical Report](https://mlsanity.com/paper/2503.19786/) (2025)
- [ALFWorld: Aligning Text and Embodied Environments for Interactive Learning](https://mlsanity.com/paper/2010.03768/) (2020)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [How Johnny Can Persuade LLMs to Jailbreak Them: Rethinking Persuasion to Challenge AI Safety by Humanizing LLMs](https://mlsanity.com/paper/2401.06373/) (2024)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [EmbodiedGPT: Vision-Language Pre-Training via Embodied Chain of Thought](https://mlsanity.com/paper/2305.15021/) (2023)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Can LLMs Keep a Secret? Testing Privacy Implications of Language Models via Contextual Integrity Theory](https://mlsanity.com/paper/2310.17884/) (2023)
- [Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots](https://mlsanity.com/paper/2310.13724/) (2023)
- [TEACh: Task-driven Embodied Agents that Chat](https://mlsanity.com/paper/2110.00534/) (2021)
- [What Does it Mean for a Language Model to Preserve Privacy?](https://mlsanity.com/paper/2202.05520/) (2022)
- [iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks](https://mlsanity.com/paper/2108.03272/) (2021)
- [PrivacyLens: Evaluating Privacy Norm Awareness of Language Models in Action](https://mlsanity.com/paper/2409.00138/) (2024)
- [Physically Grounded Vision-Language Models for Robotic Manipulation](https://mlsanity.com/paper/2309.02561/) (2023)
- [iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes](https://mlsanity.com/paper/2012.02924/) (2020)
- [Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents](https://mlsanity.com/paper/2303.00855/) (2023)
- [RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation](https://mlsanity.com/paper/2402.15487/) (2024)
- [Can Language Models be Instructed to Protect Personal Information?](https://mlsanity.com/paper/2310.02224/) (2023)
- [BadRobot: Jailbreaking Embodied LLM Agents in the Physical World](https://mlsanity.com/paper/2407.20242/) (2024)
- [Safety Guardrails for LLM-Enabled Robots](https://mlsanity.com/paper/2503.07885/) (2025)
- [OptimalThinkingBench: Evaluating Over and Underthinking in LLMs](https://mlsanity.com/paper/2508.13141/) (2025)

## Built on by (most cited first, 2 of 2)

- [NormAct: Benchmarking Embodied Agents' Proactive Compliance with Unspoken Social Norms](https://mlsanity.com/paper/2606.27826/) (2026)
- [How Far Are VLMs from Privacy Awareness in the Physical World? An Empirical Study](https://mlsanity.com/paper/2605.05340/) (2026)

## Abstract (arXiv)

The deployment of Large Language Models (LLMs) in embodied agents creates an urgent need to measure their privacy awareness in the physical world. Existing evaluation methods, however, are confined to natural language based scenarios. To bridge this gap, we introduce EAPrivacy, a comprehensive evaluation benchmark designed to quantify the physical-world privacy awareness of LLM-powered agents. EAPrivacy utilizes procedurally generated scenarios across four tiers to test an agent's ability to handle sensitive objects, adapt to changing environments, balance task execution with privacy constraints, and resolve conflicts with social norms. Our measurements reveal a critical deficit in current models. The top-performing model, Gemini 2.5 Pro, achieved only 59% accuracy in scenarios involving changing physical environments. Furthermore, when a task was accompanied by a privacy request, models prioritized completion over the constraint in up to 86% of cases. In high-stakes situations pitting privacy against critical social norms, leading models like GPT-4o and Claude-3.5-haiku disregarded the social norm over 15% of the time. These findings, demonstrated by our benchmark, underscore a fundamental misalignment in LLMs regarding physically grounded privacy and establish the need for more robust, physically-aware alignment. Codes and datasets will be available at https://github.com/Graph-COM/EAPrivacy.