CT-SAFR: Safe and Interpretable Chain-of-Thought Reasoning for Autonomous Robots: A Multi-Layered Verification Framework for Trustworthy AI-Driven Robotic Decision Making
Updated 4 h ago · first seen 11 Sept 2026
paper_01M294GMK5775MMR9YXX51YY2X
- Published
- 11 Sept 2026
- T1 · 4 h ago
- arXiv
- 2609.09692
- T1 · 4 h ago
- Category
- cs.RO
- T1 · 4 h ago
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
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Arxiv announce type
- cross
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- arXiv id
- 2609.09692
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Categories
- cs.RO, cs.AI
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- DOI
- 10.1109/CAI68641.2026.11536646
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Primary category
- cs.RO
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Each value shows its source, tier and observation time. Conflicting claims are kept side by side and flagged — never averaged. How AI Atlas records facts →
Provenance
Attributed facts
10
Source tiers
T110
Freshest observation
4 h ago
Conflicts
None
No models linked to this paper yet.
- Authors
- Cagri Temel
As of
Rewind the record: see this entity's attributes exactly as AI Atlas knew them on a given day.
Claim history
Official pageofficial_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/abs/2609.09692 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Abstractabstract1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 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. | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Arxiv announce typearxiv_announce_type1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cross | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
arXiv idarxiv_id1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 2609.09692 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Categoriescategories1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.RO, cs.AI | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
DOIdoi1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 10.1109/CAI68641.2026.11536646 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
PDFpdf_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/pdf/2609.09692 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Primary categoryprimary_category1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.RO | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Publishedpublished_at1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 11 Sept 2026 | → 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 →
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
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.AI | feed | T1· Official | 2 h ago | 1 |
Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.