Author

Peng Liu

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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

Jul 2026

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

ConceptTree is a framework that reframes high-level manipulation skill selection as reasoning over human-interpretable concepts, representing high-level policies as a sequence of concept-level predicates over visual observations, resulting in a transparent decision process that is both traceable and intervenable, enabl...

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