Preprint Open access
VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies
Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---especially in environments outside of training distributions. This work presents Vision-Language-Poisson-Safe Actions (VLPSA), a safety filte …