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PlanGuard: A Guardrail for Multi-Step Plan Safety in Embodied Agents

Embodied task planners may produce multi-step plans whose subtask dependencies and interactions with the environment create physical risks during execution. Yet existing safeguards overlook such compositional risks, as general-purpose guardrails focus on semantic harm and embodied safety detectors assess subtasks in isolation. To address this gap, we introduce PlanGuard, the first pre-execution…

arxiv.org ·2026-09-26

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