Safety in Embodied AI: A Survey of Risks, Attacks, and Defenses

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# Safety in Embodied AI: A Survey of Risks, Attacks, and Defenses

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**A comprehensive survey and the first unified safety framework for embodied AI, covering 500+ key works across perception, cognition, planning, interaction, and agentic systems.**

[[arXiv]](https://arxiv.org/abs/2605.02900) | [[Website]](https://x-zheng16.github.io/Awesome-Embodied-AI-Safety/)

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## Authors

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<a href="https://openreview.net/profile?id=~Xiao_Li22" target="_blank" rel="noopener">Xiao Li</a><sup>1,&#42;</sup>,
<a href="https://x-zheng16.github.io/" target="_blank" rel="noopener">Xiang Zheng</a><sup>4,&#42;</sup>,
<a href="https://github.com/SFTJBD" target="_blank" rel="noopener">Yifeng Gao</a><sup>1</sup>,
<a href="https://xinyuxia97.github.io/" target="_blank" rel="noopener">Xinyu Xia</a><sup>5</sup>,
<a href="https://scholar.google.com/citations?hl=zh-CN&user=EYP7wNIAAAAJ&view_op=list_works&sortby=pubdate" target="_blank" rel="noopener">Yixu Wang</a><sup>1</sup>,
<a href="https://xinwong.github.io/" target="_blank" rel="noopener">Xin Wang</a><sup>1</sup>,
<a href="https://openreview.net/profile?id=%7EYe_Sun1" target="_blank" rel="noopener">Ye Sun</a><sup>1</sup>,
<a href="https://github.com/Vinsonzyh" target="_blank" rel="noopener">Yunhan Zhao</a><sup>1</sup>,
<a href="https://scholar.google.com/citations?hl=en&user=7b8QWAMAAAAJ&view_op=list_works&sortby=pubdate" target="_blank" rel="noopener">Ming Wen</a><sup>1,3</sup>,
<a href="https://github.com/lijayuTnT" target="_blank" rel="noopener">Jiayu Li</a><sup>1</sup>,
<a href="https://openreview.net/profile?id=~Zixing_Chen2" target="_blank" rel="noopener">Zixing Chen</a><sup>1</sup>,
<a href="https://sites.google.com/view/xungong-jlu-ai/home" target="_blank" rel="noopener">Xun Gong</a><sup>5</sup>,
<a href="https://scholars.cityu.edu.hk/en/persons/yiliu247/" target="_blank" rel="noopener">Yi Liu</a><sup>4</sup>,
<a href="https://github.com/bboylyg" target="_blank" rel="noopener">Yige Li</a><sup>6</sup>,
<a href="https://github.com/wuyoscar" target="_blank" rel="noopener">Yutao Wu</a><sup>7</sup>,
<a href="https://www.cs.cityu.edu.hk/~congwang/" target="_blank" rel="noopener">Cong Wang</a><sup>4</sup>,
<a href="https://sunjun.site/" target="_blank" rel="noopener">Jun Sun</a><sup>6</sup>,
<a href="https://taominer.github.io" target="_blank" rel="noopener">Yixin Cao</a><sup>1,2,3</sup>,
<a href="https://zhinchenfd.github.io/" target="_blank" rel="noopener">Zhineng Chen</a><sup>1,3</sup>,
<a href="https://jingjing1.github.io/" target="_blank" rel="noopener">Jingjing Chen</a><sup>1,3</sup>,
<a href="https://guitaowufeng.github.io/" target="_blank" rel="noopener">Tao Gui</a><sup>1,2,3</sup>,
<a href="http://qizhang.info/" target="_blank" rel="noopener">Qi Zhang</a><sup>1,3</sup>,
<a href="https://zxwu.azurewebsites.net/" target="_blank" rel="noopener">Zuxuan Wu</a><sup>1,2,3</sup>,
<a href="https://xpqiu.github.io/" target="_blank" rel="noopener">Xipeng Qiu</a><sup>1,2,3</sup>,
<a href="https://xuanjing-huang.github.io/" target="_blank" rel="noopener">Xuanjing Huang</a><sup>1,3</sup>,
<a href="https://tiehuaz.github.io" target="_blank" rel="noopener">Tiehua Zhang</a><sup>8</sup>,
<a href="https://zhipeng-wei.github.io/" target="_blank" rel="noopener">Zhipeng Wei</a><sup>10</sup>,
<a href="https://home-gamma-ten.vercel.app/" target="_blank" rel="noopener">Kun Wang</a><sup>11</sup>,
<a href="https://letterligo.github.io/" target="_blank" rel="noopener">Xinfeng Li</a><sup>11</sup>,
<a href="https://hanxunh.github.io/" target="_blank" rel="noopener">Hanxun Huang</a><sup>13</sup>,
<a href="https://people.eng.unimelb.edu.au/smonazam/" target="_blank" rel="noopener">Sarah Erfani</a><sup>13</sup>,
<a href="https://people.eng.unimelb.edu.au/baileyj/" target="_blank" rel="noopener">James Bailey</a><sup>13</sup>,
<a href="https://www.cs.cityu.edu.hk/~jianwang/index.html" target="_blank" rel="noopener">Jianping Wang</a><sup>4</sup>,
<a href="https://xiaocw11.github.io/" target="_blank" rel="noopener">Chaowei Xiao</a><sup>14</sup>,
<a href="https://rhe-web.github.io/" target="_blank" rel="noopener">Ran He

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