# SafeInferCom: Safe Inference-Time Compute via Verifier-Guided Mid-Generation Intervention for Robotic Task Planning

arXiv: https://arxiv.org/abs/2610.11223 · HTML: https://mlsanity.com/paper/2610.11223/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Test-time compute and efficient thinking, one of 17 directions in LLM reasoning.
- Builds on 11 of its 30 references that are in the map.
- First posted on arXiv 8 Oct 2026.

## Placed in

- LLM reasoning / [Test-time compute and efficient thinking](https://mlsanity.com/lr/test-time-compute-and-efficient-thinking/)

## Builds on (most cited first, 11 of 11)

- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [LLM+P: Empowering Large Language Models with Optimal Planning Proficiency](https://mlsanity.com/paper/2304.11477/) (2023)
- [ROSCOE: A Suite of Metrics for Scoring Step-by-Step Reasoning](https://mlsanity.com/paper/2212.07919/) (2022)
- [Adaptive Inference-Time Compute: LLMs Can Predict if They Can Do Better, Even Mid-Generation](https://mlsanity.com/paper/2410.02725/) (2024)
- [Inference-Time Scaling for Complex Tasks: Where We Stand and What Lies Ahead](https://mlsanity.com/paper/2504.00294/) (2025)
- [SafePlan: Leveraging Formal Logic and Chain-of-Thought Reasoning for Enhanced Safety in LLM-based Robotic Task Planning](https://mlsanity.com/paper/2503.06892/) (2025)
- [Neuro Symbolic Reasoning for Planning: Counterexample Guided Inductive Synthesis using Large Language Models and Satisfiability Solving](https://mlsanity.com/paper/2309.16436/) (2023)
- [interwhen: A Generalizable Framework for Steering Reasoning Models with Test-time Verification](https://mlsanity.com/paper/2602.11202/) (2026)
- [Language Models as Higher-Order Planning Formalizers](https://mlsanity.com/paper/2603.23844/) (2026)
- [VeryTrace: Verifying Reasoning Traces through Compilable Formalism and Structured Verification](https://mlsanity.com/paper/2606.24124/) (2026)

## Abstract (arXiv)

Large Reasoning Language Models (LRLMs) enable multi-step reasoning for robotic task planning, but continued reasoning can overwrite valid intermediate plans or leave constraint violations unresolved, reducing planning reliability and wasting inference-time computation. We develop an inference-time monitor that exposes and verifies intermediate plans without disrupting the original decoding trajectory. Building on this monitor, we propose SafeInferCom, a formal verifier-guided framework that preserves valid intermediate plans and directs error correction during generation. Experiments across multiple LRLMs and planning domains reveal reasoning-response inconsistency and limited self-correction under one-shot inference. SafeInferCom improves planning success and accelerates error correction relative to one-shot inference. When combined with iterative refinement, it further improves success while reducing token usage compared with refinement alone. We additionally evaluate SafeInferCom in VirtualHome and provide a real-world robotic-arm demonstration.