arXiv AI
6d ago

ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies

arXiv:2609. 11697v1 Announce Type: cross Abstract: 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.

By Jianming Ma, Rongjun Jin, Xiaxi Si, Yang Zhang, Yiheng Li, Yue Gao