# GARV: Graph-Aware Refinement and Safety Verification for High-Level Robot Plans

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/xi36k83gx9699bnapytca1ixw
- Original: https://arxiv.org/abs/2610.02662

## Summary

The authors propose GARV, which combines graph-based action contracts with a safety monitor to produce a model-relative safety certificate or counterexample for high-level actions such as goto(region), and to provide a minimum-cost safe refinement when alternative routes are available.