Mar 23, 2026

Investigating Structural Safety Guarantees for Agentic AI via Goal-Oriented Action Planning

Daniel Juhl

AI control protocols generally rely on monitoring and human auditing to maintain safety despite potential subversion by an untrusted model. I present an alternative approach that can provide structural rather than empirical safety guarantees. A trusted model decomposes agentic tasks into structured steps which are combined into an execution plan using Goal-Oriented Action Planning (GOAP). I implement this as a control protocol and test it in the AgentDojo Workspace setting. Under adversarial attack policies, the protocol reduces injection task success rates to under 1% with a usefulness decrease of between 8-21 percentage points depending on the model used. The protocol eliminates the need for the human auditing budget, but is currently only applicable in certain well-defined action spaces - notably, it does not apply to traditional code generation settings.

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Cite this work

@misc {

title={

(HckPrj) Investigating Structural Safety Guarantees for Agentic AI via Goal-Oriented Action Planning

},

author={

Daniel Juhl

},

date={

3/23/26

},

organization={Apart Research},

note={Research submission to the research sprint hosted by Apart.},

howpublished={https://apartresearch.com}

}

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This work was done during one weekend by research workshop participants and does not represent the work of Apart Research.
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