# Benchmarks for Trajectory Safety Evaluation and Diagnosis in OpenClaw and Codex: ATBench-Claw and ATBench-Codex

arXiv: https://arxiv.org/abs/2604.14858 · HTML: https://mlsanity.com/paper/2604.14858/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 16 references that are in the map.
- First posted on arXiv 16 Apr 2026.

## Builds on (most cited first, 7 of 7)

- [SWE-bench: Can Language Models Resolve Real-World GitHub Issues?](https://mlsanity.com/paper/2310.06770/) (2023)
- [A Survey on Large Language Model based Autonomous Agents](https://mlsanity.com/paper/2308.11432/) (2023)
- [τ-bench: A Benchmark for Tool-Agent-User Interaction in Real-World Domains](https://mlsanity.com/paper/2406.12045/) (2024)
- [OSWorld: Benchmarking Multimodal Agents for Open-Ended Tasks in Real Computer Environments](https://mlsanity.com/paper/2404.07972/) (2024)
- [Dynabench: Rethinking Benchmarking in NLP](https://mlsanity.com/paper/2104.14337/) (2021)
- [Qwen3Guard Technical Report](https://mlsanity.com/paper/2510.14276/) (2025)
- [ShieldAgent: Shielding Agents via Verifiable Safety Policy Reasoning](https://mlsanity.com/paper/2503.22738/) (2025)

## Built on by (most cited first, 6 of 6)

- [AgentDoG 1.5: A Lightweight and Scalable Alignment Framework for AI Agent Safety and Security](https://mlsanity.com/paper/2605.29801/) (2026)
- [From Chatbot to Digital Colleague: The Paradigm Shift Toward Persistent Autonomous AI](https://mlsanity.com/paper/2606.14502/) (2026)
- [Boiling the Frog: A Multi-Turn Benchmark for Agentic Safety](https://mlsanity.com/paper/2605.22643/) (2026)
- [RealClawBench: Live OpenClaw Benchmarks from Real Developer-Agent Sessions](https://mlsanity.com/paper/2606.03889/) (2026)
- [HarnessSafe: Evaluating Safety Across Persistent Carriers in Agent Harnesses](https://mlsanity.com/paper/2608.06984/) (2026)
- [SeClaw: Spec-Driven Security Task Synthesis for Evaluating Autonomous Agents](https://mlsanity.com/paper/2606.02302/) (2026)

## Abstract (arXiv)

As agent systems move into increasingly diverse execution settings, trajectory-level safety evaluation and diagnosis require benchmarks that evolve with them. ATBench is a diverse and realistic agent trajectory benchmark for safety evaluation and diagnosis. This report presents ATBench-Claw and ATBench-Codex, two domain-customized extensions that carry ATBench into the OpenClaw and OpenAI Codex / Codex-runtime settings. The key adaptation mechanism is to analyze each new setting, customize the three-dimensional Safety Taxonomy over risk source, failure mode, and real-world harm, and then use that customized taxonomy to define the benchmark specification consumed by the shared ATBench construction pipeline. This extensibility matters because agent frameworks remain relatively stable at the architectural level even as their concrete execution settings, tool ecosystems, and product capabilities evolve quickly. Concretely, ATBench-Claw targets OpenClaw-sensitive execution chains over tools, skills, sessions, and external actions, while ATBench-Codex targets trajectories in the OpenAI Codex / Codex-runtime setting over repositories, shells, patches, dependencies, approvals, and runtime policy boundaries. Our emphasis therefore falls on taxonomy customization, domain-specific risk coverage, and benchmark design under a shared ATBench generation framework.