A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics

Kojima, Takeshi; Zhu, Yaonan; Iwasawa, Yusuke; Kitamura, Toshinori; Yan, Gang; Morikuni, Shu; Takanami, Ryosuke; Solano, Alfredo; Matsushima, Tatsuya; Murakami, Akiko; Matsuo, Yutaka

doi:10.24963/ijcai.2025/1168

A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics

Takeshi Kojima, Yaonan Zhu, Yusuke Iwasawa, Toshinori Kitamura, Gang Yan, Shu Morikuni, Ryosuke Takanami, Alfredo Solano, Tatsuya Matsushima, Akiko Murakami, Yutaka Matsuo

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Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence. Survey Track. Pages 10517-10527.

https://doi.org/10.24963/ijcai.2025/1168

Keywords

Robotics: General

Abstract

Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace human labor. However, unlike general foundation models, FMRs interact with the physical world, where their actions directly affect the safety of humans and surrounding objects, requiring careful deployment and control. Based on this proposition, our survey comprehensively summarizes robot control approaches to mitigate physical risks by covering all the lifespan of FMRs ranging from pre-deployment to post-accident stage. Specifically, we broadly divide the timeline into the following three phases: (1) pre-deployment phase, (2) pre-incident phase, and (3) post-incident phase. Throughout this survey, we find that there is much room to study (i) pre-incident risk mitigation strategies, (ii) research that assumes physical interaction with humans, and (iii) essential issues of foundation models themselves. We hope that this survey will be a milestone in providing a high-resolution analysis of the physical risks of FMRs and their control, contributing to the realization of a good human-robot relationship.

Takeshi Kojima, Yaonan Zhu, Yusuke Iwasawa, Toshinori Kitamura, Gang Yan, Shu Morikuni, Ryosuke Takanami, Alfredo Solano, Tatsuya Matsushima, Akiko Murakami, and Yutaka Matsuo. 2025. A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics. In Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-25. IJCAI, 10517–10527. https://doi.org/10.24963/ijcai.2025/1168

@inproceedings{ijcai2025p1168,
  title     = {A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics},
  author    = {Kojima, Takeshi and Zhu, Yaonan and Iwasawa, Yusuke and Kitamura, Toshinori and Yan, Gang and Morikuni, Shu and Takanami, Ryosuke and Solano, Alfredo and Matsushima, Tatsuya and Murakami, Akiko and Matsuo, Yutaka},
  booktitle = {Proceedings of the Thirty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-25}},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  editor    = {James Kwok},
  pages     = {10517--10527},
  year      = {2025},
  month     = {8},
  note      = {Survey Track},
  doi       = {10.24963/ijcai.2025/1168},
  url       = {https://doi.org/10.24963/ijcai.2025/1168},
}

TY  - CPAPER
TI  - A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics
AU  - Kojima, Takeshi
AU  - Zhu, Yaonan
AU  - Iwasawa, Yusuke
AU  - Kitamura, Toshinori
AU  - Yan, Gang
AU  - Morikuni, Shu
AU  - Takanami, Ryosuke
AU  - Solano, Alfredo
AU  - Matsushima, Tatsuya
AU  - Murakami, Akiko
AU  - Matsuo, Yutaka
T2  - Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-25
PB  - International Joint Conferences on Artificial Intelligence Organization
PY  - 2025
SP  - 10517
EP  - 10527
DO  - 10.24963/ijcai.2025/1168
UR  - https://doi.org/10.24963/ijcai.2025/1168
ER  -