Risk-Aware Semantic Grounding for Trustworthy LLM-Based Robot Planning

arXiv:2609.37554 · cs.RO, cs.AI · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/iitis/RiskAware-Semantic-Grounding

Terminology

• Grounding — 47× in this paper · explained in 3 episodes
• Benchmark — 24× in this paper · explained in 2 episodes
• Accuracy — 16× in this paper · explained in 1 episode
• Hallucination — 16× in this paper · explained in 3 episodes
• Planning Accuracy — 8× in this paper
• Decision Accuracy — 7× in this paper
• Consistency — 4× in this paper · explained in 3 episodes
• Task Planning — 4× in this paper · explained in 2 episodes
• Ambiguity Detection Rate — 3× in this paper
• Semantic Conflict Rejection Rate — 3× in this paper
• Affordance — 2× in this paper · explained in 1 episode
• Hallucination Rejection Rate — 2× in this paper
• Large Language Models (LLMs) — 2× in this paper · explained in 6 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Task Decomposition — 2× in this paper · explained in 2 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Agentic Loop — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Conformal Prediction — 1× in this paper · explained in 5 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Federated Learning — 1× in this paper · explained in 14 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Modularity — 1× in this paper · explained in 9 episodes
• Nearest Semantic Object Planner — 1× in this paper
• Ontology — 1× in this paper · explained in 2 episodes
• Rule-Based Sequential Global Planner — 1× in this paper

Sources

• SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agents

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving