# Robotic Fire Risk Detection based on Dynamic Knowledge Graph Reasoning: An LLM-Driven Approach with Graph Chain-of-Thought

arXiv: https://arxiv.org/abs/2509.00054 · HTML: https://mlsanity.com/paper/2509.00054/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 21 of its 51 references that are in the map.
- First posted on arXiv 25 Aug 2025.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 21 of 21)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [Expanding Performance Boundaries of Open-Source Multimodal Models with Model, Data, and Test-Time Scaling](https://mlsanity.com/paper/2412.05271/) (2024)
- [Leveraging Passage Retrieval with Generative Models for Open Domain Question Answering](https://mlsanity.com/paper/2007.01282/) (2020)
- [ERNIE: Enhanced Language Representation with Informative Entities](https://mlsanity.com/paper/1905.07129/) (2019)
- [QA-GNN: Reasoning with Language Models and Knowledge Graphs for Question Answering](https://mlsanity.com/paper/2104.06378/) (2021)
- [KEPLER: A Unified Model for Knowledge Embedding and Pre-trained Language Representation](https://mlsanity.com/paper/1911.06136/) (2019)
- [ChatIE: Zero-Shot Information Extraction via Chatting with ChatGPT](https://mlsanity.com/paper/2302.10205/) (2023)
- [Think-on-Graph: Deep and Responsible Reasoning of Large Language Model on Knowledge Graph](https://mlsanity.com/paper/2307.07697/) (2023)
- [An Introduction to Vision-Language Modeling](https://mlsanity.com/paper/2405.17247/) (2024)
- [Graph Chain-of-Thought: Augmenting Large Language Models by Reasoning on Graphs](https://mlsanity.com/paper/2404.07103/) (2024)
- [GraphAdapter: Tuning Vision-Language Models With Dual Knowledge Graph](https://mlsanity.com/paper/2309.13625/) (2023)
- [GRID: Scene-Graph-based Instruction-driven Robotic Task Planning](https://mlsanity.com/paper/2309.07726/) (2023)
- [AutoSchemaKG: Autonomous Knowledge Graph Construction through Dynamic Schema Induction from Web-Scale Corpora](https://mlsanity.com/paper/2505.23628/) (2025)
- [Aligning Vision to Language: Annotation-Free Multimodal Knowledge Graph Construction for Enhanced LLMs Reasoning](https://mlsanity.com/paper/2503.12972/) (2025)
- [Efficient LLaMA-3.2-Vision by Trimming Cross-attended Visual Features](https://mlsanity.com/paper/2504.00557/) (2025)
- [TRIFFID: Autonomous Robotic Aid For Increasing First Responders Efficiency](https://mlsanity.com/paper/2502.09379/) (2025)
- [From Symbolic to Neural and Back: Exploring Knowledge Graph-Large Language Model Synergies](https://mlsanity.com/paper/2506.09566/) (2025)
- [Casualty Detection from 3D Point Cloud Data for Autonomous Ground Mobile Rescue Robots](https://mlsanity.com/paper/1812.09084/) (2018)
- [Time is on my sight: scene graph filtering for dynamic environment perception in an LLM-driven robot](https://mlsanity.com/paper/2411.15027/) (2024)
- [Knowledge Graphs: The Future of Data Integration and Insightful Discovery](https://mlsanity.com/paper/2502.15689/) (2024)

## Abstract (arXiv)

Fire is a highly destructive disaster, but effective prevention can significantly reduce its likelihood of occurrence. When it happens, deploying emergency robots in fire-risk scenarios can help minimize the danger to human responders. However, current research on pre-disaster warnings and disaster-time rescue still faces significant challenges due to incomplete perception, inadequate fire situational awareness, and delayed response. To enhance intelligent perception and response planning for robots in fire scenarios, we first construct a knowledge graph (KG) by leveraging large language models (LLMs) to integrate fire domain knowledge derived from fire prevention guidelines and fire rescue task information from robotic emergency response documents. We then propose a new framework called Insights-on-Graph (IOG), which integrates the structured fire information of KG and Large Multimodal Models (LMMs). The framework generates perception-driven risk graphs from real-time scene imagery to enable early fire risk detection and provide interpretable emergency responses for task module and robot component configuration based on the evolving risk situation. Extensive simulations and real-world experiments show that IOG has good applicability and practical application value in fire risk detection and rescue decision-making.