{"id":"https://openalex.org/W4405785079","doi":"https://doi.org/10.1109/iros58592.2024.10801576","title":"Ensuring Safety in LLM-Driven Robotics: A Cross-Layer Sequence Supervision Mechanism","display_name":"Ensuring Safety in LLM-Driven Robotics: A Cross-Layer Sequence Supervision Mechanism","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785079","doi":"https://doi.org/10.1109/iros58592.2024.10801576"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801576","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019991147","display_name":"Ziming Wang","orcid":"https://orcid.org/0000-0003-0499-6848"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziming Wang","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054350814","display_name":"Qingchen Liu","orcid":"https://orcid.org/0000-0002-5892-3591"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingchen Liu","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053071794","display_name":"Jiahu Qin","orcid":"https://orcid.org/0000-0001-7580-0836"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahu Qin","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100404496","display_name":"Man Li","orcid":"https://orcid.org/0000-0002-9776-1628"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Man Li","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":1.9711,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.89329418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9620","last_page":"9627"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9010999798774719,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9010999798774719,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6782913208007812},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5946797728538513},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.5946158766746521},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5769906044006348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5389630794525146},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.44515782594680786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3583967089653015},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3383330702781677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28777992725372314},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.15524160861968994},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.14307436347007751},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.08835649490356445},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05874428153038025}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6782913208007812},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5946797728538513},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.5946158766746521},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5769906044006348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5389630794525146},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.44515782594680786},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3583967089653015},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3383330702781677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28777992725372314},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.15524160861968994},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.14307436347007751},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.08835649490356445},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05874428153038025},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801576","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801576","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1540180960","https://openalex.org/W2006625750","https://openalex.org/W2089003125","https://openalex.org/W2141841102","https://openalex.org/W2608488893","https://openalex.org/W3033621224","https://openalex.org/W3091670144","https://openalex.org/W3119321206","https://openalex.org/W3122171607","https://openalex.org/W4224912544","https://openalex.org/W4382365501","https://openalex.org/W4383097423","https://openalex.org/W4383108457","https://openalex.org/W4390874280","https://openalex.org/W4401415471","https://openalex.org/W4404782219","https://openalex.org/W6856867265","https://openalex.org/W6860393137","https://openalex.org/W6861106814","https://openalex.org/W6862041933"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W2390968135","https://openalex.org/W1508899372","https://openalex.org/W2382213751","https://openalex.org/W2351750670","https://openalex.org/W1597848696","https://openalex.org/W2354715126","https://openalex.org/W2388563748","https://openalex.org/W2012658348","https://openalex.org/W2375179084"],"abstract_inverted_index":{"Integrating":[0],"Large":[1],"Language":[2],"Models":[3],"(LLMs)":[4],"into":[5,97,157],"robotics":[6],"significantly":[7],"enhances":[8],"autonomous":[9],"task":[10,16,58,112,129,159,164],"planning.":[11],"However,":[12],"ensuring":[13],"that":[14,47,123],"multi-step":[15],"plans":[17],"(action":[18],"sequence)":[19],"generated":[20,54],"by":[21,55],"LLMs":[22],"comply":[23],"with":[24,190],"pre-defined":[25],"safety":[26,92,108,116,151,189],"constraints":[27,93],"during":[28,69,180],"planning":[29,113,148],"and":[30,50,60,94,134],"execution":[31,71],"remains":[32],"a":[33,45,78,98,106,119],"challenge,":[34],"limiting":[35],"their":[36],"adaptability":[37],"in":[38,127,131,188,208],"complex":[39],"environments.":[40],"To":[41],"address":[42],"this":[43,75,140,169,191],"issue,":[44],"mechanism":[46,122],"can":[48,124,175,205],"monitor":[49],"adjust":[51],"the":[52,56,62,111,115,128,146,150,158,163,172],"plan":[53,130,141,160,165,170],"LLM-driven":[57,136,200],"planner":[59,64,174],"guide":[61,135],"motion":[63,147,173],"to":[65,90,104,138,142,161,198],"avoid":[66],"potential":[67,197],"risks":[68],"action":[70,181],"is":[72],"required.":[73],"Therefore,":[74],"paper":[76],"proposes":[77],"cross-layer":[79,107,192],"sequence":[80],"supervision":[81,193],"mechanism.":[82],"Specifically,":[83],"we":[84],"employ":[85],"linear":[86],"temporal":[87],"logic":[88],"syntax":[89],"express":[91],"convert":[95],"them":[96],"set":[99],"of":[100],"nondeterministic":[101],"B\u00fcchi":[102],"automatons":[103],"build":[105],"supervisor.":[109],"For":[110,145],"layer,":[114,149],"supervisor":[117,152],"provides":[118],"closed-loop":[120],"correction":[121],"identify":[125],"violations":[126],"real":[132],"time":[133],"planners":[137],"correct":[139],"ensure":[143],"compliance.":[144],"introduces":[153],"virtual":[154],"\"obstacle\"":[155],"information":[156],"form":[162],"tuple.":[166],"Based":[167],"on":[168],"tuple,":[171],"proactively":[176],"prevent":[177],"unsafe":[178],"behaviors":[179],"execution.":[182],"Extensive":[183],"experimentation":[184],"demonstrates":[185],"significant":[186],"improvements":[187],"mechanism,":[194],"highlighting":[195],"its":[196],"enhance":[199],"robotic":[201],"technology.":[202],"Experiment":[203],"details":[204],"be":[206],"found":[207],"https://youtu.be/BDdSSEP6HJw.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
