Author

Si-Yuan Li

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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. · 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