Preprint
Oct 2026
WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
Vision-language-action (VLA) policies have demonstrated impressive capabilities in generalizable robotic manipulation, but their deployment in the real world remains challenging due to potential collisions involving different parts of the robot, manipulated objects, and the surrounding environment. Existing inference-t...
Samuel Zhen, Siwon Jo, Yan-Ze Zhang et al.
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