SafeVLA-Bench: A Benchmark for the Success-Safety Gap in Vision-Language-Action Models

Abstract:Vision-language-action (VLA) benchmarks measure whether a policy completes a requested manipulation task, but binary success can hide safety violations along the trajectory: a policy may reach the goal while applying excessive contact, disturbing bystander objects, destabilizing a held object, or entering robot self-contact. We present SafeVLA-Bench, a post-hoc safety-evaluation framework for existing simulator-based VLA benchmarks that reveals violations missed by success-only evaluation. It encodes task-aware safety requirements as Signal Temporal Logic (STL) invariants with quantitative robustness semantics. Alongside native success, it reports the safety rate and the success-but-unsafe rate (SBU) used in prior safety evaluations, and introduces the Violation Severity Index (VSI), a bounded worst-violation depth score. We instantiate SafeVLA-Bench on LIBERO and RoboCasa-365, evaluating twenty-seven policy-benchmark entries across tabletop and kitchen manipulation tasks. High task success does not imply safe execution: the fifteen tabletop policies above 90% mean success still have 18-28% unsafe-episode rates, and 38-56% of successful RoboCasa-365 rollouts violate at least one active safety clause. A post-training case study further shows that SafeVLA-Bench can be used to improve policy safety. Project page: this https URL

46 pages (10 main + references + appendix), 7 figures, 21 tables. Project page: this https URL

Robotics (cs.RO)

arXiv:2606.00773 [cs.RO]

(or arXiv:2606.00773v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.00773 Focus to learn more arXiv-issued DOI via DataCite

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