Graphormer-Guided Task Planning: Beyond Static Rules with LLM Safety Perception

원문 초록

Recent advancements in large language models (LLMs) have expanded their role in robotic task planning. However, while LLMs have been explored for generating feasible task sequences, their ability to ensure safe task execution remains underdeveloped. Existing methods struggle with structured risk perception, making them inadequate for safety-critical applications where low-latency hazard adaptation is required. To address this limitation, we propose a Graphormer-enhanced risk-aware task planning framework that combines LLM-based decision-making with structured safety modeling. Our approach constructs a dynamic spatio-semantic safety graph, capturing spatial and contextual risk factors to enable online hazard detection and adaptive task refinement. Unlike existing methods that rely on predefined safety constraints, our framework introduces a context-aware risk perception module that continuously refines safety predictions based on real-time task execution. This enables a more flexible and scalable approach to robotic planning, allowing for adaptive safety compliance beyond static rules. To validate our framework, we conduct experiments in the AI2-THOR environment. The experiments results validates improvements in risk detection accuracy, rising safety notice, and task adaptability of our framework in continuous environments compared to static rule-based and LLM-only baselines. Our project is available at https://github.com/hwj20/GGTP