Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation
[Robotyka] Autorzy: Bingxin Xu, Yuzhang Shang, Zhen Dong i 1 więcej
Coding agents have emerged as a promising paradigm for robot manipulation: a language model writes the robot controller as a program, and agents built in this way now operate robots without robot-specific training.Whether this paradigm is also safe, however, has not been asked. We evaluate coding agent under a safety constraint, where each task pairs a manipulation goal with an obstacle the robot must not touch. The agent pursues the goal but collides with the obstacle in most cases, treating task completion as its sole objective while neglecting safety. The agent reasons about the obstacle in its traces, and the prompt already forbids touching it, so neither perception nor instruction is at fault; the fault lies in the planning, where the stated constraint never becomes a priority. By decomposing manipulation into a route phase and a contact-rich moment, we locate the source of the fai…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka