Concept erasure methods aim to remove specific unsafe target concepts in diffusion models while preserving image generation utility. To address the vulnerability that erased concepts can be easily recovered under adversarial attacks, adversarial concept erasure methods integrate adversarial optimization into the concept erasure process. However, existing adversarial concept erasure methods face a trade-off between robustness and computational cost. We attribute this to adversarial optimization techniques that use random samples to approximate the adversarial objective function. Adversarial optimization that uses a small number of samples fails to produce adversarial embeddings that accurately capture the target concept space. To mitigate this limitation, we propose Semantic-Guided Adversarial Optimization, which uses a single sample to produce adversarial embeddings that better capture the target concept space. We also propose Semantic-Guided Concept Erasure, which automatically maps the target concept to a semantically similar surrogate. Extensive experiments on not-safe-for-work content, artistic styles, and object-related concepts demonstrate that our method, S-GRACE (Semantic-Guided Robust Adversarial Concept Erasure) achieves state-of-the-art erasure robustness and superior image generation utility, with significantly lower computational cost than existing methods. Our code is available at https://github.com/Qhong-522/S-GRACE.

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