# How Far Are VLMs from Privacy Awareness in the Physical World? An Empirical Study

arXiv: https://arxiv.org/abs/2605.05340 · HTML: https://mlsanity.com/paper/2605.05340/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in MLLM jailbreaks and adversarial robustness, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 34 of its 46 references that are in the map.
- First posted on arXiv 6 May 2026.

## Placed in

- Multimodal LLMs / vision-language models / [MLLM jailbreaks and adversarial robustness](https://mlsanity.com/mllm/mllm-jailbreaks-and-adversarial-robustness/)

## Builds on (most cited first, 30 of 34)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [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)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [DecodingTrust: A Comprehensive Assessment of Trustworthiness in GPT Models](https://mlsanity.com/paper/2306.11698/) (2023)
- [VirtualHome: Simulating Household Activities via Programs](https://mlsanity.com/paper/1806.07011/) (2018)
- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [A Survey on Large Language Model (LLM) Security and Privacy: The Good, the Bad, and the Ugly](https://mlsanity.com/paper/2312.02003/) (2023)
- [Embodied Question Answering](https://mlsanity.com/paper/1711.11543/) (2017)
- [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)
- [TEACh: Task-driven Embodied Agents that Chat](https://mlsanity.com/paper/2110.00534/) (2021)
- [Quantifying Privacy Risks of Masked Language Models Using Membership Inference Attacks](https://mlsanity.com/paper/2203.03929/) (2022)
- [PrivacyLens: Evaluating Privacy Norm Awareness of Language Models in Action](https://mlsanity.com/paper/2409.00138/) (2024)
- [SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents](https://mlsanity.com/paper/2412.13178/) (2024)
- [Privacy Issues in Large Language Models: A Survey](https://mlsanity.com/paper/2312.06717/) (2023)
- [LLM-PBE: Assessing Data Privacy in Large Language Models](https://mlsanity.com/paper/2408.12787/) (2024)
- [PrivLM-Bench: A Multi-level Privacy Evaluation Benchmark for Language Models](https://mlsanity.com/paper/2311.04044/) (2023)
- [SafeMind: Benchmarking and Mitigating Safety Risks in Embodied LLM Agents](https://mlsanity.com/paper/2509.25885/) (2025)
- [PrivacyBench: A Conversational Benchmark for Evaluating Privacy in Personalized AI](https://mlsanity.com/paper/2512.24848/) (2025)

## Abstract (arXiv)

As Vision-Language Models (VLMs) are increasingly deployed as autonomous cognitive cores for embodied assistants, evaluating their privacy awareness in physical environments becomes critical. Unlike digital chatbots, these agents operate in intimate spaces, such as homes and hospitals, where they possess the physical agency to observe and manipulate privacy-sensitive information and artifacts. However, current benchmarks remain limited to unimodal, text-based representations that cannot capture the demands of real-world settings. To bridge this gap, we present ImmersedPrivacy, an interactive audio-visual evaluation framework that simulates realistic physical environments using a Unity-based simulator. ImmersedPrivacy evaluates physically grounded privacy awareness across three progressive tiers that test a model's ability to identify sensitive items in cluttered scenes, adapt to shifting social contexts, and resolve conflicts between explicit commands and inferred privacy constraints. Our evaluation of 12 state-of-the-art models reveals consistent deficits. In cluttered scenes, all models exhibit monotonic performance decay as scene complexity grows due to perceptual deficit. When social context shifts, no model exceed 65% selection accuracy. Under conflicting commands, the best model gemini-3.1-pro perfectly balances task completion and privacy preservation in only 51% of cases. These findings reveal that current VLMs in the physical world suffer from perceptual fragility and fail to let their knowledge of privacy cues govern their situated behavior. Our code and data is available at https://github.com/immersed-privacy/immersed-privacy .