Preprint
Sep 2026
Safe Task Planning with Long-Term Graph Memory for Embodied Agents
A novel safe task-planning framework, SafeMem, which constructs and maintains a long-term semantic graph memory of the open and dynamic environment, and substantially improves safe success rates compared to state-of-the-art VLM-driven task planners.
Si-Yuan Li, Tai-Yan Lang, Ao Yan et al.
· 1 citation