PanelShield：面向机器人工业面板操作的可验证闭环安全规划
PanelShield: Verifiable Closed-Loop Safe Planning for Robotic Industrial Panel Operation
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中文总结 AI 辅助
针对工业面板操作的安全约束规划问题，提出PanelShield框架，结合LTL与安全FSM实现可验证闭环规划，实验表明其可降低违规率至2.7%并提升任务性能。
中文摘要 AI 辅助
工业面板操作是知识密集型且对安全要求极高的任务，除了控制识别与动作生成外，执行过程必须满足操作手册和安全规范中的约束。基于大模型的规划器虽具备较强的语义能力，但通常缺乏可计算、可定位且可复现的违规检测与修复机制。为解决该问题，我们提出PanelShield，这是一个面向人工引导工业面板操作的可验证闭环安全规划框架。该框架从与任务相关的手册证据中生成参数化动作原语序列，并结合LTL（线性时序逻辑）与安全有限状态机（Safety FSM）进行双重形式验证，以确保跨步骤的时序正确性和局部转换合法性。当违规发生时，它会输出结构化反例，包含最早违规步骤及原因，支持针对性修复与重新验证。我们构建了涵盖三个代表性工业设备面板的多层次长时序规划基准，并在仿真与真实机器人实验中对该框架进行评估。结果显示，PanelShield相较于仅使用大模型的规划基线，提升了复杂安全约束任务的性能，同时将违规率降至2.7%，总延迟为4.1秒。真实实验验证了其端到端可行性，总体而言，PanelShield为机器人面板操作提供了一种可验证的方法，兼顾了灵活性、安全性与可审计性。
英文摘要
Industrial panel operation is knowledge-intensive and safety-critical. Beyond control recognition and action generation, execution must satisfy constraints in operation manuals and safety regulations. While foundation-model-based planners show strong semantic capability, they typically lack computable, localizable, and reproducible mechanisms for violation detection and repair. To address this, we propose PanelShield, a verifiable closed-loop safety planning framework for manual-guided industrial panel operation. The framework generates parameterized action primitive sequences from task-relevant manual evidence and applies dual formal verification with LTL and a Safety FSM to enforce cross-step temporal correctness and local transition legality. When violations occur, it outputs a structured counterexample with the earliest violating step and cause, enabling targeted repair and re-verification. We build a multi-level long-horizon planning benchmark covering three representative industrial device panels, and evaluate the framework in simulation and real-world robotic experiments. Results show that PanelShield improves complex safety-constrained task performance over foundation-model-only planning baselines while reducing the violation rate to 2.7%, with 4.1 s total latency. Real-world experiments demonstrate end-toend feasibility. Overall, PanelShield offers a verifiable approach to robotic panel operation that balances flexibility, safety, and auditability.
