(b) 时间不可控 ≠ 时间可接受。 MILP 只能设 TimeLimit 然后祈祷； ALNS 的迭代预算可以精确控制，给定预算就一定能返回一个可行解 （修复算子兜底：实在插不进 UAV 的客户全部转 EV 直送）。 实测（一台 Windows 机器、纯 Python、单线程）： ...

A runtime security layer that sits in the agent's tool-call path and checks the whole sequence, not single calls — blocking, redacting, or holding a step the moment a chain becomes a breach.

LeRobot v3.0 dataset collected via SCRAPE-IsaacLab — a Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.