SENTINEL: A Multi-Level Formal Framework for Safety Evaluation of Foundation Model-based Embodied Agents

תקציר מקורי באנגליתarXiv:2510.12985v3 Announce Type: replace Abstract: We present SENTINEL, a framework for formally evaluating the physical safety of foundation model (FM)-based embodied agents. SENTINEL is the first to provide multi-level safety evaluation across semantic interpretation, plan generation, and physical execution within a unified formal framework. Unlike prior methods that rely on heuristic rules or subjective FM judgments, SENTINEL grounds practical safety requirements in formal temporal logic (TL) semantics that can precisely specify state invariants, temporal dependencies, and timing constraints. It employs a multi-level verification pipeline where (i) at the semantic level, intuitive natural language safety requirements are formalized into TL formulas and the agent's understanding of thes