A Real-Time Neuro-Symbolic Ethical Governor for Safe Decision Control in Autonomous Robotic Manipulation

As robots are increasingly deployed in everyday environments, ensuring their safety has become a central challenge. Existing methods often encode safety requirements as opaque mathematical/logical formulations or dense cost functions. While effective in specific tasks, they remain difficult to interpret, tightly coupled to individual tasks, and offer limited insight into why a robot action is considered safe or unsafe. To address this limitation, we propose ``Neuro-Symbolic Predicate Learning for Semantic Safe Robot Control'' (NEUPRO), which leverages a differentiable reasoner that can learn reusable safety representations from human-specified safety knowledge. NEUPRO allows practitioners to express task-related safety requirements as transparent symbolic rules, while enabling gradients to propagate through these rules to a feature extractor that maps raw observations to safety-relevant concepts. As a result, the learned feature extractor is (softly) grounded in human-understandable semantics, supports transparent constraint evaluation, and is transferable across tasks. By coupling interpretability with differentiability, NEUPRO moves beyond opaque cost design toward reusable safety reasoning. To evaluate NEUPRO's capability, we collect and release REASON, the first real robot benchmark dataset for interpretable robot safety specification. Experiments on REASON show that NEUPRO learns safety-critical features that generalize across tasks, mitigate the interpretability limitations of conventional black-box cost formulations, and provide explicit explanations of safety violation.

Ensuring reliable and rule-compliant behavior of autonomous agents in uncertain environments remains a fundamental challenge in modern robotics. Our work shows how neuro-symbolic systems, which integrate probabilistic, symbolic white-box reasoning models with deep learning methods, offer a powerful solution to this challenge. They enable the simultaneous consideration of explicit rules and neural models trained on noisy data, combining the strengths of structured reasoning with flexible representations. To this end, we introduce the Constitutional Controller (CoCo), a novel framework designed to enhance the safety and reliability of agents by reasoning over deep probabilistic logic programs that represent constraints, such as those found in shared traffic spaces. Furthermore, we propose the concept of self-doubt, implemented as a probability density conditioned on doubt features such as travel velocity, employed sensors, or health factors. In a real-world aerial mobility study, we demonstrate CoCo's advantages for intelligent autonomous systems to learn appropriate doubts and navigate complex, uncertain environments safely and compliantly.

The rapid adoption of large language models has enabled the development of clinical multi-agent systems (MAS) capable of integrating multimodal patient data and supporting increasingly complex clinical decision-making. However, the deployment of these systems in real-world healthcare settings raises critical ethical concerns related to safety, fairness, accountability, transparency, and patient trust. While numerous organizations, including the World Health Organization, the National Academy of Medicine, and the FUTURE-AI consortium, have proposed ethical frameworks and governance principles for healthcare AI, these efforts remain largely conceptual. To address this challenge, we present ETHOS (Ethics and Trust through Hierarchical Oversight System), a modular ethics framework designed as a governance meta-agent that can be integrated with any existing multi-agent system without requiring changes to its underlying architecture. ETHOS translates stakeholder-informed ethical requirements into executable runtime oversight through a layered governance approach consisting of deterministic checks, contextual reviews, and a final ethics critic. These components continuously evaluate intermediate reasoning steps and final outputs, enabling the system to identify ethical risks, request revisions, or suppress responses that fail predefined safety and trustworthiness criteria. We demonstrate ETHOS within a hepatology clinical decision-support MAS. Results show that ETHOS improves decision reliability by detecting incomplete, inconsistent, or out-of-scope evidence and appropriately increasing abstention when safe recommendations cannot be supported. By embedding ethical governance directly into system operation, ETHOS provides a practical and auditable mechanism for transforming high-level AI ethics principles into deployable safeguards.