Agentic safety fails to generalize across tasks because the task-to-safe-controller mapping has a higher Lipschitz constant than the task-to-controller mapping alone, as proven in linear-quadratic control and demonstrated in quadcopter and LLM experiments.
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Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.
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Why Does Agentic Safety Fail to Generalize Across Tasks?
Agentic safety fails to generalize across tasks because the task-to-safe-controller mapping has a higher Lipschitz constant than the task-to-controller mapping alone, as proven in linear-quadratic control and demonstrated in quadcopter and LLM experiments.
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Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.