SafeGuard ASF: SR Agentic Humanoid Robot System for Autonomous Industrial Safety
Thanh Nguyen Canh, Thang Tran Viet, Thanh Tuan Tran, Ben Wei Lim

TL;DR
SafeGuard ASF is a humanoid robot system designed for autonomous hazard detection and safety in industrial environments, integrating perception, reasoning, and locomotion for tasks like fire detection and intruder monitoring.
Contribution
This work introduces a comprehensive humanoid robot framework combining multi-modal perception, agentic reasoning, and learned locomotion policies for industrial safety applications.
Findings
Achieved 94.2% mAP in fire and smoke detection with 127ms latency.
Demonstrated stable locomotion policy training within 80,000 iterations.
Validated autonomous patrol and hazard detection in real-world environments.
Abstract
The rise of unmanned ``dark factories'' operating without human presence demands autonomous safety systems capable of detecting and responding to multiple hazard types. We present SafeGuard ASF (Agentic Security Fleet), a comprehensive framework deploying humanoid robots for autonomous hazard detection in industrial environments. Our system integrates multi-modal perception (RGB-D imaging), a ReAct-based agentic reasoning framework, and learned locomotion policies on the Unitree G1 humanoid platform. We address three critical hazard scenarios: fire and smoke detection, abnormal temperature monitoring in pipelines, and intruder detection in restricted zones. Our perception pipeline achieves 94.2% mAP for fire or smoke detection with 127ms latency. We train multiple locomotion policies, including dance motion tracking and velocity control, using Unitree RL Lab with PPO, demonstrating…
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Taxonomy
TopicsSocial Robot Interaction and HRI · Fire Detection and Safety Systems · Robotic Path Planning Algorithms
