PlanGuard: A Guardrail for Multi-Step Plan Safety in Embodied Agents
This work introduces PlanGuard, the first pre-execution detector that evaluates the physical safety of a complete multi-step plan in its current environment, and proposes Strong-Teacher Adaptive Compensation for On-Policy Distillation (STAC-OPD), which provides compact models with adaptive strong-teacher supervision al...
Jun-Chi Chen, Chang-Tao Miao, Yu Xiang et al.
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