Li, Siyuan, Feifan Liu, Lingfei Cui, Jiani Lu, Qinqin Xiao, Xirui Yang, Peng Liu, Kewu Sun, Zhe Ma, and Xun Wang. “Safe Planner: Empowering Safety Awareness in Large Pre-Trained Models for Robot Task Planning”. Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 14 (April 11, 2025): 14619–14627. Accessed May 28, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/33602.