CT-SAFR: Safe and Interpretable Chain-of-Thought Reasoning for Autonomous Robots: A Multi-Layered Verification Framework for Trustworthy AI-Driven Robotic Decision Making — Paper

Abstract

Chain-of-Thought (CoT) prompting enables LLMs to perform explicit, step-by-step reasoning, creating opportunities for sophisticated autonomous robots. However, recent research reveals that reasoning models verbalize their actual decision processes only 25-39% of the time, with faithfulness degrading 44% on complex tasks. This paper presents CT-SAFR (Chain-of-Thought Safety and Faithfulness for Robotics), a multi-layered verification framework achieving 94.2% hallucination detection (n = 500, 95% CI: 91.8-95.9%) with sub-500ms latency. Through a warehouse robot case study, this work demonstrates 87% reduction in unsafe reasoning outputs (p < 0.001) and provides recommendations for responsible deployment of reasoning-capable autonomous robots.

Authors 1

Cagri Temel

Specification

Official page: arxiv.org/abs/2609.09692
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: cross
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2609.09692
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.RO, cs.AI
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
DOI: 10.1109/CAI68641.2026.11536646
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2609.09692
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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10

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T110

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2 h ago

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Authors: Cagri Temel

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Value	Valid from → to	Status	Source	Confidence	Extractor
10.1109/CAI68641.2026.11536646	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

11 Sept 2026
New paperPaperCT-SAFR: Safe and Interpretable Chain-of-Thought Reasoning for Autonomous Robots: A Multi-Layered Verification Framework for Trustworthy AI-Driven Robotic Decision Making
New paper: CT-SAFR: Safe and Interpretable Chain-of-Thought Reasoning for Autonomous Robots: A Multi-Layered Verification Framework for Trustworthy AI-Driven Robotic Decision Making
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Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.AI	feed	T1· Official	2 min ago	1

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