arXiv (OAI Expanded)
open access
ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies
Vision-Language-Action (VLA) and World-Action Models (WAMs) have demonstrated strong capabilities in general-purpose robotic manipulation, yet their generated actions may violate hard physical constraints and therefore be unsafe or infeasible for deployment. Existing safety approaches either optimiz
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