Cover Image

SAGE-LLM: Towards Safe and Generalizable LLM Controller with Fuzzy-CBF Verification and Graph-Structured Knowledge Retrieval for UAV Decision

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Zhao, Wenzhe, Zhao, Yang, Liu, Ganchao, Jiang, Zhiyu, Ma, Dandan, Li, Zihao, Li, Xuelong
Format:	Preprint
Published:	2026
Subjects:	Robotics Artificial Intelligence
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

LLMs for High-Frequency Decision-Making: Normalized Action Reward-Guided Consistency Policy Optimization
by: Zhao, Yang, et al.
Published: (2026)

Towards Reliable LLM-based Robot Planning via Combined Uncertainty Estimation
by: Yin, Shiyuan, et al.
Published: (2025)

Is Your Safe Controller Actually Safe? A Critical Review of CBF Tautologies and Hidden Assumptions
by: Kim, Taekyung
Published: (2026)

A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties
by: Sankaranarayanan, Viswa Narayanan, et al.
Published: (2024)

Safe Robot Control using Occupancy Grid Map-based Control Barrier Function (OGM-CBF)
by: Raja, Golnaz, et al.
Published: (2024)

Autonomous Decision Making for UAV Cooperative Pursuit-Evasion Game with Reinforcement Learning
by: Zhao, Yang, et al.
Published: (2024)

ATOM-CBF: Adaptive Safe Perception-Based Control under Out-of-Distribution Measurements
by: Yun, Kai S., et al.
Published: (2025)

CompassNav: Steering From Path Imitation To Decision Understanding In Navigation
by: Li, LinFeng, et al.
Published: (2025)

CBF-LLM: Safe Control for LLM Alignment
by: Miyaoka, Yuya, et al.
Published: (2024)

Kinematic-aware Prompting for Generalizable Articulated Object Manipulation with LLMs
by: Xia, Wenke, et al.
Published: (2023)

X-Loco: Towards Generalist Humanoid Locomotion Control via Synergetic Policy Distillation
by: Wang, Dewei, et al.
Published: (2026)

CN-CBF: Composite Neural Control Barrier Function for Safe Robot Navigation in Dynamic Environments
by: Derajić, Bojan, et al.
Published: (2026)

Learning Generalizable Language-Conditioned Cloth Manipulation from Long Demonstrations
by: Zhao, Hanyi, et al.
Published: (2025)

Design and Experimental Validation of Closed-Form CBF-Based Safe Control for Stewart Platform Under Multiple Constraints
by: Cinun, Benedictus C. G., et al.
Published: (2025)

RALLY: Role-Adaptive LLM-Driven Yoked Navigation for Agentic UAV Swarms
by: Wang, Ziyao, et al.
Published: (2025)

DV-VLN: Dual Verification for Reliable LLM-Based Vision-and-Language Navigation
by: Li, Zijun, et al.
Published: (2026)

Safe-SAGE: Social-Semantic Adaptive Guidance for Safe Engagement through Laplace-Modulated Poisson Safety Functions
by: Yang, Lizhi, et al.
Published: (2026)

GENMANIP: LLM-driven Simulation for Generalizable Instruction-Following Manipulation
by: Gao, Ning, et al.
Published: (2025)

When Semantics Connect the Swarm: LLM-Driven Fuzzy Control for Cooperative Multi-Robot Underwater Coverage
by: Xu, Jingzehua, et al.
Published: (2025)

Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
by: Butler, Brooks A., et al.
Published: (2024)

Towards Efficient LLM Grounding for Embodied Multi-Agent Collaboration
by: Zhang, Yang, et al.
Published: (2024)

SafeDrive: Knowledge- and Data-Driven Risk-Sensitive Decision-Making for Autonomous Vehicles with Large Language Models
by: Zhou, Zhiyuan, et al.
Published: (2024)

Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction
by: Fan, Chenyou, et al.
Published: (2025)

Towards Safe and Robust Autonomous Vehicle Platooning: A Self-Organizing Cooperative Control Framework
by: Xu, Chengkai, et al.
Published: (2024)

SQ-CBF: Signed Distance Functions for Numerically Stable Superquadric-Based Safety Filtering
by: Zhao, Haocheng, et al.
Published: (2026)

Knowledge Transfer from Simple to Complex: A Safe and Efficient Reinforcement Learning Framework for Autonomous Driving Decision-Making
by: Zhou, Rongliang, et al.
Published: (2024)

Better Safe Than Sorry: Enhancing Arbitration Graphs for Safe and Robust Autonomous Decision-Making
by: Spieker, Piotr, et al.
Published: (2024)

SAGE: Scene Graph-Aware Guidance and Execution for Long-Horizon Manipulation Tasks
by: Li, Jialiang, et al.
Published: (2025)

Morphology-Aware Graph Reinforcement Learning for Tensegrity Robot Locomotion
by: Zhang, Chi, et al.
Published: (2025)

Context-aware LLM-based Safe Control Against Latent Risks
by: Deng, Xiyu, et al.
Published: (2024)

Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections
by: Zha, Lihan, et al.
Published: (2023)

Towards Coarse-grained Visual Language Navigation Task Planning Enhanced by Event Knowledge Graph
by: Kaichen, Zhao, et al.
Published: (2024)

Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach
by: Liu, Jinhao, et al.
Published: (2024)

T3 Planner: A Self-Correcting LLM Framework for Robotic Motion Planning with Temporal Logic
by: Li, Jia, et al.
Published: (2025)

SAGA: A Robust Self-Attention and Goal-Aware Anchor-based Planner for Safe UAV Autonomous Navigation
by: Wei, Junhao, et al.
Published: (2026)

Human Demonstrations are Generalizable Knowledge for Robots
by: Cui, Te, et al.
Published: (2023)

Robust Integrated Planning and Control for Quadrotors in Dynamic Environments via NMPC with CBF Penalties
by: Shayan, Zeinab, et al.
Published: (2026)

VisionSafeEnhanced VPC: Cautious Predictive Control with Visibility Constraints under Uncertainty for Autonomous Robotic Surgery
by: Jiayin, Wang, et al.
Published: (2025)

SafePath: Conformal Prediction for Safe LLM-Based Autonomous Navigation
by: Doula, Achref, et al.
Published: (2025)

VerifyLLM: LLM-Based Pre-Execution Task Plan Verification for Robots
by: Grigorev, Danil S., et al.
Published: (2025)