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cs.RO2026
ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies
Jianming Ma, Rongjun Jin, Xiaxi Si +3
Vision-Language-Action (VLA) and World-Action Models (WAMs) have demonstrated strong capabilities in general-purpose robotic manipulation, yet their generated actions may violate h…
cs.RO2026
GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models
Yizhi Chen, Zhanxiang Cao, Xinyi Peng +14
Current Vision--Language--Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment and dynamic affordanc…