ContactGuard uses an action-conditioned latent world model to predict a post-contact visual embedding from a planned action chunk and abort before the gripper closes, improving failure prediction over current-latent and direct baselines in real-robot grasping.
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ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models
ContactGuard uses an action-conditioned latent world model to predict a post-contact visual embedding from a planned action chunk and abort before the gripper closes, improving failure prediction over current-latent and direct baselines in real-robot grasping.