SafeManip: A Property-Driven Benchmark for Temporal Safety Evaluation in Robotic Manipulation
SAFEMANIP is a property-driven benchmark designed to test temporal safety in robotic manipulation, where task success doesn't guarantee safe execution. It maps robot actions to symbolic traces and uses Linear Temporal Logic over finite traces (LTLf) to monitor eight specific safety properties. The system distinguishes between task completion and safe execution, revealing that progress often increases the risk of temporal failures.