{"id":"https://openalex.org/W7151960592","doi":"https://doi.org/10.48550/arxiv.2604.05427","title":"Pre-Execution Safety Gate & Task Safety Contracts for LLM-Controlled Robot Systems","display_name":"Pre-Execution Safety Gate & Task Safety Contracts for LLM-Controlled Robot Systems","publication_year":2026,"publication_date":"2026-04-07","ids":{"openalex":"https://openalex.org/W7151960592","doi":"https://doi.org/10.48550/arxiv.2604.05427"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.05427","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05427","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.05427","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092103161","display_name":"Ike Obi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Obi, Ike","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029213933","display_name":"Vishnunandan L. N. Venkatesh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Venkatesh, Vishnunandan L. N.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133154007","display_name":"Weizheng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Weizheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106405255","display_name":"Ruiqi Wang","orcid":"https://orcid.org/0009-0005-4763-4961"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ruiqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133180260","display_name":"Dayoon Suh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suh, Dayoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010520770","display_name":"Temitope Ibrahim Amosa","orcid":"https://orcid.org/0000-0002-6419-2035"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amosa, Temitope I.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000372970","display_name":"Wonse Jo","orcid":"https://orcid.org/0000-0002-6904-5878"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jo, Wonse","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5076467173","display_name":"Byung\u2010Cheol Min","orcid":"https://orcid.org/0000-0001-6458-4365"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Min, Byung-Cheol","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5092103161"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.552299976348877,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.552299976348877,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.04340000078082085,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.037700001150369644,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7386999726295471},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7085000276565552},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5037999749183655},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.47679999470710754},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4537000060081482},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4129999876022339},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.40059998631477356},{"id":"https://openalex.org/keywords/system-safety","display_name":"System safety","score":0.3919999897480011}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7386999726295471},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7085000276565552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5357000231742859},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5037999749183655},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.47679999470710754},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.40059998631477356},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.3919999897480011},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3813000023365021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3741999864578247},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3199999928474426},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2879999876022339},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.28760001063346863},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2809000015258789},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.2768000066280365},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27300000190734863},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26829999685287476},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2632000148296356},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2612999975681305}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.05427","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05427","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.05427","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.05427","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.8168256878852844,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large":[0],"Language":[1],"Models":[2],"(LLMs)":[3],"are":[4,28],"increasingly":[5],"used":[6],"to":[7,20,98,124,137],"convert":[8],"task":[9,71],"commands":[10,25,35,72,91,112,181],"into":[11,30,118],"robot-executable":[12],"code,":[13],"however":[14],"this":[15,57],"pipeline":[16],"lacks":[17],"validation":[18],"gates":[19,196],"detect":[21],"unsafe":[22,44,68,126],"and":[23,92,121,156,167],"defective":[24,180],"before":[26],"they":[27],"translated":[29],"robot":[31,75,153,169,199],"code.":[32],"Furthermore,":[33],"even":[34],"that":[36,66,113,173],"appear":[37],"safe":[38],"at":[39],"the":[40,50,116,143,177,191],"outset":[41],"can":[42],"produce":[43],"state":[45,127],"transitions":[46,128],"during":[47,129],"execution":[48],"in":[49],"absence":[51],"of":[52,179,187,193],"continuous":[53],"constraint":[54,139],"monitoring.":[55],"In":[56,103],"research,":[58],"we":[59,105],"introduce":[60,106],"SafeGate,":[61],"a":[62,94,184],"neurosymbolic":[63],"safety":[64,81,154,195],"architecture":[65],"prevents":[67],"natural":[69,89],"language":[70,90],"from":[73,78,88,142],"reaching":[74],"execution.":[76,102,130],"Drawing":[77],"ISO":[79],"13482":[80],"standard,":[82],"SafeGate":[83,149,174],"extracts":[84],"structured":[85],"safety-relevant":[86],"properties":[87],"applies":[93],"deterministic":[95],"decision":[96],"gate":[97,117],"authorize":[99],"or":[100],"reject":[101],"addition,":[104],"Task":[107,144],"Safety":[108,145],"Contracts,":[109],"which":[110],"decomposes":[111],"pass":[114],"through":[115],"invariants,":[119],"guards,":[120],"abort":[122],"conditions":[123],"prevent":[125],"We":[131,147],"further":[132],"incorporate":[133],"Z3":[134],"SMT":[135],"solving":[136],"enforce":[138],"checking":[140],"derived":[141],"Contracts.":[146],"evaluate":[148],"against":[150],"existing":[151],"LLM-based":[152],"frameworks":[155],"baseline":[157],"LLMs":[158],"across":[159],"230":[160],"benchmark":[161],"tasks,":[162,189],"30":[163],"AI2-THOR":[164],"simulation":[165],"scenarios,":[166],"real-world":[168],"experiments.":[170],"Results":[171],"show":[172],"significantly":[175],"reduces":[176],"acceptance":[178,186],"while":[182],"maintaining":[183],"high":[185],"benign":[188],"demonstrating":[190],"importance":[192],"pre-execution":[194],"for":[197],"LLM-controlled":[198],"systems":[200]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-04-09T00:00:00"}