# LIBERO-Safety: A Comprehensive Benchmark for Physical and Semantic Safety in Vision-Language-Action Models

arXiv: https://arxiv.org/abs/2606.23686 · HTML: https://mlsanity.com/paper/2606.23686/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Placed in Safety and adversarial attacks, one of 13 directions in Vision-language-action models.
- Builds on 54 of its 60 references that are in the map.
- First posted on arXiv 22 Jun 2026.

## Placed in

- Vision-language-action models / [Safety and adversarial attacks](https://mlsanity.com/vla/safety-and-adversarial-attacks/)

## Builds on (most cited first, 30 of 54)

- [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)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (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)
- [Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success](https://mlsanity.com/paper/2502.19645/) (2025)
- [V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning](https://mlsanity.com/paper/2506.09985/) (2025)
- [RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation](https://mlsanity.com/paper/2410.07864/) (2024)
- [RLBench: The Robot Learning Benchmark & Learning Environment](https://mlsanity.com/paper/1909.12271/) (2019)
- [CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks](https://mlsanity.com/paper/2112.03227/) (2021)
- [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://mlsanity.com/paper/2506.18088/) (2025)
- [Evaluating Real-World Robot Manipulation Policies in Simulation](https://mlsanity.com/paper/2405.05941/) (2024)
- [UniVLA: Learning to Act Anywhere with Task-centric Latent Actions](https://mlsanity.com/paper/2505.06111/) (2025)
- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [WorldVLA: Towards Autoregressive Action World Model](https://mlsanity.com/paper/2506.21539/) (2025)
- [X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model](https://mlsanity.com/paper/2510.10274/) (2025)
- [LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models](https://mlsanity.com/paper/2510.13626/) (2025)
- [π*0.6: a VLA That Learns From Experience](https://mlsanity.com/paper/2511.14759/) (2025)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization](https://mlsanity.com/paper/2510.03827/) (2025)
- [BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments](https://mlsanity.com/paper/2108.03332/) (2021)
- [SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning](https://mlsanity.com/paper/2509.09674/) (2025)
- [Interactive Post-Training for Vision-Language-Action Models](https://mlsanity.com/paper/2505.17016/) (2025)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins](https://mlsanity.com/paper/2504.13059/) (2025)
- [VLA-JEPA: Enhancing Vision-Language-Action Model with Latent World Model](https://mlsanity.com/paper/2602.10098/) (2026)

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

- [Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation](https://mlsanity.com/paper/2609.20822/) (2026)
- [From World Action Models to Embodied Brains: A Roadmap for Open-World Physical Intelligence](https://mlsanity.com/paper/2607.11689/) (2026)
- [LIBERO-RECOVER: Beyond Task Success Towards Failure Recovery in Robotic Manipulation Models](https://mlsanity.com/paper/2609.05178/) (2026)
- [Towards Trustworthy Physical Intelligence: From Theory to Practice Across Life Cycle](https://mlsanity.com/paper/2607.22877/) (2026)
- [VLA-ULAP: Interleaving Cloud VLA Calls with Ultra-Lightweight Local Action Prediction at the Edge](https://mlsanity.com/paper/2609.18663/) (2026)
- [VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies](https://mlsanity.com/paper/2609.22462/) (2026)
- [LIBERO-MAX: Do Robot Policies Adapt When the World Changes?](https://mlsanity.com/paper/2609.36518/) (2026)
- [Multi-Link Safety Filtering for VLA Policies Around Moving Hazards](https://mlsanity.com/paper/2609.40007/) (2026)
- [WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation](https://mlsanity.com/paper/2610.01083/) (2026)
- [Axiom-0: Hierarchical Self-Refinement for Vision-Language-Action Policies](https://mlsanity.com/paper/2610.14155/) (2026)

## Abstract (arXiv)

Despite the impressive manipulation capabilities of Vision-Language-Action (VLA) models, their operational safety under strict constraints remains largely unverified. To address this, we introduce a parametric safety benchmark to procedurally generate safety-critical scenarios with comprehensive stochasticity. To overcome the scalability bottlenecks of human teleoperation, we develop a novel keypose-driven data generation pipeline. Leveraging this infrastructure, we curate a large-scale dataset of 19,664 strictly collision-free demonstrations with extensive domain randomization. We then conduct a systematic cross-paradigm evaluation of eight VLA and two embodied foundation models. Our analysis reveals a critical generalization-safety tension: although high-diversity training fosters safer trajectories, task success remains fundamentally bottlenecked by sub-optimal trajectory synthesis and semantic misalignment. By providing a scalable pipeline, a robust dataset, and profound failure-mode insights, LIBERO-Safety establishes a crucial foundation for developing safe and reliable VLA models.