IS-Bench: Evaluating Interactive Safety of VLM-Driven Embodied Agents in Daily Household Tasks
Paper • 2506.16402 • Published • 1
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Dataset Card for IS-Bench
This dataset is for paper IS-Bench: Evaluating Interactive Safety of VLM-Driven Embodied Agents in Daily Household Tasks
⭐ You can check our Paper, Github, Project Page for more information.
Usage
Online Evaluation: Download scenes.tar.gz and load these scene files in Omnigibson simulator.
Offline Evaluation: Download scene_images.tar.gz and use the scene images in it as input directly.
Please see IS-Bench code for more details.
Dataset Details
Our dataset statistics are listed in the following:
Here are examples in our dataset:
The evaluation results on leading VLMs. (SR: Success Rate, SSR: Safe and Success Rate, Srec: Safety Recall, Ll: implicit safety reminder, L2: safety CoT reminder configurations.)
Citation
@article{lu2025bench,
title={IS-Bench: Evaluating Interactive Safety of VLM-Driven Embodied Agents in Daily Household Tasks},
author={Lu, Xiaoya and Chen, Zeren and Hu, Xuhao and Zhou, Yijin and Zhang, Weichen and Liu, Dongrui and Sheng, Lu and Shao, Jing},
journal={arXiv preprint arXiv:2506.16402},
year={2025}
}
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