From Bits to Atoms: A Survey of Cross-Layer Safety for Embodied Intelligence

A survey proposes a four-layer reference architecture consisting of physical interaction, system and middleware, algorithm and decision-making, and cloud-edge and data, to connect vulnerabilities, propagation paths, and protection measures across layers of embodied intelligence. The survey examines how faults and attacks cross architectural boundaries to cause physical consequences, and organizes composite attack chains, multi-layer defense strategies, and representative safety benchmarks. The authors advocate unifying software alignment with strict hardware constraints to build trustworthy systems that can operate safely in human-centered environments.