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 detector that evaluates the physical safety of a complete multi-step plan in its current environment. For training and evaluation, we construct a Multi-Step Plan Safety (MSP-Safe) dataset through paired task construction, plan generation using diverse planners, and safety annotation by three judges...
| Authors | Junchi Chen, Changtao Miao, Yuxiao Xiang et al. |
|---|---|
| Primary category | cs.AI |
| Published | 26 September 2026 |
| Last updated at source | 26 September 2026 |
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