LATIDIA · Robótica

De los planes de LLM al movimiento autorizado: autorización de ejecución obligada para excavadoras

arXiv:2610.14245v1 Tipo de anuncio: nuevo Resumen: Una excavadora dirigida por LLM puede ejecutar un movimiento mecánicamente factible cuyo destino o autoridad ya no coincide con la aprobación del operador. Proponemos auth vinculada a la ejecución

La noticia

arXiv:2610.14245v1 Announce Type: new Abstract: An LLM-directed excavator can execute mechanically feasible motion whose destination or authority no longer matches the operator's approval. We propose execution-bound authorization for the approval--dispatch--execution interval. A one-use lease binds the action, generated motion, mission contract and admission tolerance; atomic dispatch rechecks current authority and measured joint drift. Periodic supervision detects revocation and requests a quintic stop with a carry-pitch endpoint, selected through sampled joint, stroke, flow and reference-acceleration checks. The framework connects exact motion identity to dispatch integrity and load-aware interruption. Evaluation combines a 672-case interface suite, four loaded digging cases in synchronous simulation, unloaded MuJoCo/Pinocchio transfers and two command-level LLM planners. The gateway