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.
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