MemoGuard: An Adaptive Runtime for Guarding Against Memory Traps in Communication-Limited Robot Navigation

TL;DR - MemoGuard is a lightweight runtime that checks retrieved robot memories for topology, resource, and outcome validity before executing them. It improves navigation safety while avoiding unnecessary local LLM reasoning costs.

• Defines “memory traps”: contextually similar but unsafe or invalid past actions.
• Invokes fallback reasoning only when a retrieved memory violates execution contracts.
• Reduced battery safety violations by 76.6% versus similarity-only top-1 reuse.
• Reduced fallback calls by 21.4% versus always reasoning, saving 3.67 seconds and 36.97 joules per trial on Jetson hardware.