# Safety Control of Service Robots with LLMs and Embodied Knowledge Graphs

arXiv: https://arxiv.org/abs/2405.17846 · HTML: https://mlsanity.com/paper/2405.17846/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 77 references that are in the map.
- First posted on arXiv 28 May 2024.

## Builds on (most cited first, 30 of 38)

- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Pre-train, Prompt, and Predict: A Systematic Survey of Prompting Methods in Natural Language Processing](https://mlsanity.com/paper/2107.13586/) (2021)
- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [Conditional Prompt Learning for Vision-Language Models](https://mlsanity.com/paper/2203.05557/) (2022)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [Right for the Wrong Reasons: Diagnosing Syntactic Heuristics in Natural Language Inference](https://mlsanity.com/paper/1902.01007/) (2019)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Unifying Large Language Models and Knowledge Graphs: A Roadmap](https://mlsanity.com/paper/2306.08302/) (2023)
- [A Prompt Pattern Catalog to Enhance Prompt Engineering with ChatGPT](https://mlsanity.com/paper/2302.11382/) (2023)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [QA-GNN: Reasoning with Language Models and Knowledge Graphs for Question Answering](https://mlsanity.com/paper/2104.06378/) (2021)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [TidyBot: Personalized Robot Assistance with Large Language Models](https://mlsanity.com/paper/2305.05658/) (2023)
- [KagNet: Knowledge-Aware Graph Networks for Commonsense Reasoning](https://mlsanity.com/paper/1909.02151/) (2019)
- [REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction](https://mlsanity.com/paper/2306.15724/) (2023)
- [GreaseLM: Graph REASoning Enhanced Language Models for Question Answering](https://mlsanity.com/paper/2201.08860/) (2022)
- [OpenPrompt: An Open-source Framework for Prompt-learning](https://mlsanity.com/paper/2111.01998/) (2021)
- [Task and Motion Planning with Large Language Models for Object Rearrangement](https://mlsanity.com/paper/2303.06247/) (2023)
- [LLM-Grounder: Open-Vocabulary 3D Visual Grounding with Large Language Model as an Agent](https://mlsanity.com/paper/2309.12311/) (2023)
- [Scalable Multi-Hop Relational Reasoning for Knowledge-Aware Question Answering](https://mlsanity.com/paper/2005.00646/) (2020)
- [PyTorch-BigGraph: A Large-scale Graph Embedding System](https://mlsanity.com/paper/1903.12287/) (2019)
- [A Survey of Knowledge Enhanced Pre-trained Language Models](https://mlsanity.com/paper/2211.05994/) (2022)
- [Knowledge Graphs: Opportunities and Challenges](https://mlsanity.com/paper/2303.13948/) (2023)
- [Plug in the Safety Chip: Enforcing Constraints for LLM-driven Robot Agents](https://mlsanity.com/paper/2309.09919/) (2023)
- [Improving Natural Language Inference Using External Knowledge in the Science Questions Domain](https://mlsanity.com/paper/1809.05724/) (2018)
- [JointLK: Joint Reasoning with Language Models and Knowledge Graphs for Commonsense Question Answering](https://mlsanity.com/paper/2112.02732/) (2021)
- [Deploying and Evaluating LLMs to Program Service Mobile Robots](https://mlsanity.com/paper/2311.11183/) (2023)

## Built on by (most cited first, 7 of 7)

- [A Survey of Context Engineering for Large Language Models](https://mlsanity.com/paper/2507.13334/) (2025)
- [Safety Aware Task Planning via Large Language Models in Robotics](https://mlsanity.com/paper/2503.15707/) (2025)
- [Graphs Meet AI Agents: Taxonomy, Progress, and Future Opportunities](https://mlsanity.com/paper/2506.18019/) (2025)
- [Neural Brain: A Neuroscience-inspired Framework for Embodied Agents](https://mlsanity.com/paper/2505.07634/) (2025)
- [SafetyALFRED: Evaluating Safety-Conscious Planning of Multimodal Large Language Models](https://mlsanity.com/paper/2604.19638/) (2026)
- [A Signal Contract for Online Language Grounding and Discovery in Decision-Making](https://mlsanity.com/paper/2506.07915/) (2025)
- [Security and Privacy in Large-Model-Driven Embodied Agents: Attacks, Defenses, and Future Directions](https://mlsanity.com/paper/2609.27847/) (2026)

## Abstract (arXiv)

Safety limitations in service robotics across various industries have raised significant concerns about the need for robust mechanisms ensuring that robots adhere to safe practices, thereby preventing actions that might harm humans or cause property damage. Despite advances, including the integration of Knowledge Graphs (KGs) with Large Language Models (LLMs), challenges in ensuring consistent safety in autonomous robot actions persist. In this paper, we propose a novel integration of Large Language Models with Embodied Robotic Control Prompts (ERCPs) and Embodied Knowledge Graphs (EKGs) to enhance the safety framework for service robots. ERCPs are designed as predefined instructions that ensure LLMs generate safe and precise responses. These responses are subsequently validated by EKGs, which provide a comprehensive knowledge base ensuring that the actions of the robot are continuously aligned with safety protocols, thereby promoting safer operational practices in varied contexts. Our experimental setup involved diverse real-world tasks, where robots equipped with our framework demonstrated significantly higher compliance with safety standards compared to traditional methods. This integration fosters secure human-robot interactions and positions our methodology at the forefront of AI-driven safety innovations in service robotics.