Advancing Embodied Agent Security: From Safety Benchmarks to Input Moderation

Abstract: Embodied agents exhibit immense potential across a multitude of domains, making the assurance of their behavioral safety a fundamental prerequisite for their widespread deployment. However, existing research predominantly concentrates on the security of general LLMs, lacking specialized methodologies for establishing safety benchmarks and input moderation tailored to embodied agents. To bridge this gap, this paper introduces a novel input moderation framework, meticulously designed to safeguard embodied agents. This framework encompasses the entire pipeline, including taxonomy definition, dataset curation, moderator architecture, model training, and rigorous evaluation. Notably, we introduce EAsafetyBench, a meticulously crafted safety benchmark engineered to facilitate both the training and stringent assessment of moderators specifically designed for embodied agents. Furthermore, we propose Pinpoint, an innovative prompt-decoupled input moderation scheme that harnesses a masked attention mechanism to effectively isolate and mitigate the influence of functional prompts on moderation tasks. Extensive experiments conducted on diverse benchmark datasets and models validate the feasibility and efficacy of the proposed approach. The results demonstrate that our methodologies achieve an impressive average detection accuracy of 94.58%, surpassing the performance of existing state-of-the-art techniques, alongside an exceptional moderation processing time of merely 0.002 seconds per instance.