From LLM Plans to Authorized Motion: Execution-Bound Authorization for Excavators

Summary

The paper proposes execution-bound authorization for LLM-directed excavators, binding each one-use lease to the action, generated motion, mission contract and admission tolerance, with atomic dispatch rechecking current authority and measured joint drift. In evaluation, the gateway admitted all 120 benign interface cases from a 672-case suite and produced zero unauthorized dispatches in the attack suite. During simulated dump-phase revocation, maximum closed-site deposition fell from 1.23 to 0.33 m³.