CAPSafe: A Benchmark for Contextual Action and Plan Safety Reasoning in Embodied Agents

Large language models are increasingly used as planners for robotic systems, yet how safely they plan remains an open question. To evaluate safe planning systematically, we introduce DESPITE, a benchmark of 12,279 tasks spanning physical and normative dangers with fully deterministic validation. Across 23 models, even near-perfect planning ability does not ensure safety: the best-planning model fails to produce a valid plan on only 0.4% of tasks but produces dangerous plans on 28.3%. Among 18 open-source models from 3B to 671B parameters, planning ability improves substantially with scale (0.4-99.3%) while safety awareness remains relatively flat (38-57%). We identify a multiplicative relationship between these two capacities, showing that larger models complete more tasks safely primarily through improved planning, not through better danger avoidance. Three proprietary reasoning models reach notably higher safety awareness (71-81%), while non-reasoning proprietary models and open-source reasoning models remain below 57%. As planning ability approaches saturation for frontier models, improving safety awareness becomes a central challenge for deploying language-model planners in robotic systems.

Multimodal Large Language Models are increasingly adopted as autonomous agents in interactive environments, yet their ability to proactively address safety hazards remains insufficient. We introduce SafetyALFRED, built upon the embodied agent benchmark ALFRED, augmented with six categories of real-world kitchen hazards. While existing safety evaluations focus on hazard recognition through disembodied question answering (QA) settings, we evaluate eleven state-of-the-art models from the Qwen, Gemma, and Gemini families on not only hazard recognition, but also active risk mitigation through embodied planning. Our experimental results reveal a significant alignment gap: while models can accurately recognize hazards in QA settings, average mitigation success rates for these hazards are low in comparison. Our findings demonstrate that static evaluations through QA are insufficient for physical safety, thus we advocate for a paradigm shift toward benchmarks that prioritize corrective actions in embodied contexts. We open-source our code and dataset under https://github.com/sled-group/SafetyALFRED.git

Large Language Models (LLMs) are increasingly deployed as agents that operate in real-world environments, introducing safety risks beyond linguistic harm through tool use, external transactions, and multi-step decision making. Existing agent safety evaluations construct risk-oriented tasks that lack a hierarchically organized taxonomy of attack surfaces, rely on predefined harm categories rather than deployment-grounded safety rubrics, and evaluate agent behavior in isolation rather than during realistic, long-horizon task execution. To address these limitations, we propose Risky-Bench, a deployment-grounded framework for systematic agent safety evaluation in life-assist settings. Risky-Bench derives context-aware safety rubrics from domain-agnostic safety principles and systematically probes safety risks across hierarchically organized attack surfaces through realistic task execution under varying threat assumptions. Applied to life-assist scenarios covering food delivery, in-store assistance, and online travel booking, Risky-Bench evaluates seven state-of-the-art agents across 750 tasks, revealing attack success rates ranging from 25% to 60% and exposing systematic failure patterns including threat-model-specific vulnerabilities, attack-surface-dependent risk concentration, and model-dependent effects of explicit reasoning. Our code and data are available at https://github.com/SophieZheng998/Risky-Bench.