Author

Fei-Fan Liu

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Preprint Sep 2026

Safe Task Planning with Long-Term Graph Memory for Embodied Agents

Large language models (LLMs) and vision-language models (VLMs) have significantly advanced zero-shot task planning for embodied agents. However, most LLM- and VLM-driven methods struggle to generate safe high-level actions due to a lack of physical risk awareness, particularly under partial observability, where hazards...

Si-Yuan Li, Tai-Yan Lang, Ao Yan et al. · 0 citations

Jul 2026

ConceptTree: Bringing Semantic Transparency to Black-Box Decision Making for Robotic Manipulation

Establishing interpretable decision-making processes in long-horizon robotic manipulation is critical for enabling reliable human oversight and intervention. However, existing approaches to robotic manipulation largely treat skill selection as opaque mappings from observations to actions, offering limited transparency...

Yong Wen, Feifan Liu, Jin-Yi Chen et al. · arXiv.org · 0 citations