Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation
Ranking
Overall
75
Content
90
Popularity
39
Observed public metrics from 1 member.
Merged summary
TL;DR - SafeHarness improves the safety of coding agents for robot manipulation by separating obstacle-aware route planning from contact execution. It achieves 71.9% task success and 87.5% collision avoidance, outperforming the previous state of the art by 6.5 and 27.0 percentage points, respectively.
- Baseline coding agents collided with obstacles in most cases despite recognizing them and receiving explicit instructions not to touch them.
- The failure stemmed from planning: agents lacked clearing-route reasoning, replanning when routes became infeasible, and safety-aware contact selection.
- SafeHarness represents objects as bounding boxes, generates and verifies waypoint routes, replans when needed, and chooses collision-free contact positions.
- Compared with the same agent without the harnesses, task success increased by 2.3× and collision avoidance by 1.5×.
Sources (1)
Coding Agents with an Obstacle-Aware Harness for Safe Robot Manipulation
Public signals
Semantic Scholar citations 0 · Semantic Scholar influential citations 0
TL;DR - SafeHarness improves the safety of coding agents for robot manipulation by separating obstacle-aware route planning from contact execution. It achieves 71.9% task success and 87.5% collision avoidance, outperforming the previous state of the art by 6.5 and 27.0 percentage points, respectively.
- Baseline coding agents collided with obstacles in most cases despite recognizing them and receiving explicit instructions not to touch them.
- The failure stemmed from planning: agents lacked clearing-route reasoning, replanning when routes became infeasible, and safety-aware contact selection.
- SafeHarness represents objects as bounding boxes, generates and verifies waypoint routes, replans when needed, and chooses collision-free contact positions.
- Compared with the same agent without the harnesses, task success increased by 2.3× and collision avoidance by 1.5×.