# RobotValues: Evaluating Household Robots When Human Values Conflict

arXiv: https://arxiv.org/abs/2606.03312 · HTML: https://mlsanity.com/paper/2606.03312/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 38 of its 221 references that are in the map.
- First posted on arXiv 2 Jun 2026.

## Builds on (most cited first, 30 of 38)

- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [LlamaFactory: Unified Efficient Fine-Tuning of 100+ Language Models](https://mlsanity.com/paper/2403.13372/) (2024)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [DeepSeek-V4: Towards Highly Efficient Million-Token Context Intelligence](https://mlsanity.com/paper/2606.19348/) (2026)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [BridgeData V2: A Dataset for Robot Learning at Scale](https://mlsanity.com/paper/2308.12952/) (2023)
- [CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks](https://mlsanity.com/paper/2112.03227/) (2021)
- [Can LLMs Generate Novel Research Ideas? A Large-Scale Human Study with 100+ NLP Researchers](https://mlsanity.com/paper/2409.04109/) (2024)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [Large Language Models Sensitivity to The Order of Options in Multiple-Choice Questions](https://mlsanity.com/paper/2308.11483/) (2023)
- [Evaluating the Moral Beliefs Encoded in LLMs](https://mlsanity.com/paper/2307.14324/) (2023)
- [Does Writing with Language Models Reduce Content Diversity?](https://mlsanity.com/paper/2309.05196/) (2023)
- [Artificial Hivemind: The Open-Ended Homogeneity of Language Models (and Beyond)](https://mlsanity.com/paper/2510.22954/) (2025)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins](https://mlsanity.com/paper/2504.13059/) (2025)
- [Value Kaleidoscope: Engaging AI with Pluralistic Human Values, Rights, and Duties](https://mlsanity.com/paper/2309.00779/) (2023)
- [LeRobot: An Open-Source Library for End-to-End Robot Learning](https://mlsanity.com/paper/2602.22818/) (2026)
- [DailyDilemmas: Revealing Value Preferences of LLMs with Quandaries of Daily Life](https://mlsanity.com/paper/2410.02683/) (2024)
- [Multimodal Situational Safety](https://mlsanity.com/paper/2410.06172/) (2024)
- [Values in the Wild: Discovering and Analyzing Values in Real-World Language Model Interactions](https://mlsanity.com/paper/2504.15236/) (2025)
- [Value FULCRA: Mapping Large Language Models to the Multidimensional Spectrum of Basic Human Values](https://mlsanity.com/paper/2311.10766/) (2023)
- [Generating Robot Constitutions & Benchmarks for Semantic Safety](https://mlsanity.com/paper/2503.08663/) (2025)

## Abstract (arXiv)

While household robots are often evaluated based on task completion, everyday domestic environments involve value-conflicting situations where robots are expected to choose actions that prioritize diverse values such as human autonomy, efficiency, or social appropriateness. Yet, there are no benchmarks for evaluating robots' value preferences in such scenarios. We introduce RobotValues, a benchmark to evaluate household robot planners in 8K value-conflict scenarios. Each instance consists of a realistic, synthetically generated household image with multiple plausible robot actions that prioritize different human values. We construct ROBOTVALUES through LLM-assisted scenario generation, stakeholder-grounded value extraction, image generation and automatic quality control. We evaluate 10 VLMs used in robotics and find that models show default value preferences, including safety and accommodation, while underselecting privacy-prioritizing actions. When models are prompted to prioritize values that conflict with their preferences, models often fail to override the default actions, choosing incorrect actions 80% of the time on average across models. These findings highlight the need to go beyond task completion or safety evaluations and assess robots' decision-making capability when human values conflict.