NEXUS framework enables continual learning of symbolic constraints for embodied planning by decoupling physical feasibility from safety specifications, achieving higher task success, refusal of unsafe commands, and defense against attacks on SafeAgentBench.
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NEXUS: Continual Learning of Symbolic Constraints for Safe and Robust Embodied Planning
NEXUS framework enables continual learning of symbolic constraints for embodied planning by decoupling physical feasibility from safety specifications, achieving higher task success, refusal of unsafe commands, and defense against attacks on SafeAgentBench.