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arXiv · 2609.21223

SafeStage: Evaluating Safety Before, During, and After Vision-Language-Conditioned Robot Manipulation

Jinzhu Luo·Qi Zhang·Wei Wang·Wei Jiang
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Abstract

Vision-language-conditioned robot policies integrate perception, language understanding, and control for general-purpose manipulation. However, existing evaluations often focus on task success, isolated physical constraints, semantic refusal, or realized physical damage, providing limited insight into where safety fails during closed-loop manipulation. We introduce SafeStage, a lifecycle-structured benchmark for evaluating manipulation safety before, during, and after task execution. SafeStage contains 97 purpose-built risk scenarios organized into three stages. Initial-State Hazards captures safety-relevant relations that must be resolved before manipulating the target. Execution-Time Safety evaluates unsafe contacts, trajectories, region entries, and object interactions during execution. Final-State Hazards capture unstable or otherwise unsafe conditions remaining after nominal task completion. The benchmark evaluates realized interactions using event-based and state-based checks and reports native task success independently from stage-specific safety outcomes. We evaluate representative direct-action Vision-Language-Action (VLA) policies and policies with world-model-based policies under a common closed-loop protocol. Our results demonstrate that nominal task completion frequently coexists with safety violations and that different policies exhibit distinct failure profiles across the three stages. By separating task success from safety and localizing when violations occur, SafeStage provides a unified diagnostic testbed for evaluating and improving vision-language-conditioned robot manipulation policies.

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Jinzhu Luo, Qi Zhang, Wei Wang, Wei Jiang. 2026-09-18. SafeStage: Evaluating Safety Before, During, and After Vision-Language-Conditioned Robot Manipulation. https://arxiv.org/abs/2609.21223

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