X-Safe masks actions in configuration space using forward kinematics and quasi-static object models to give probabilistic collision-avoidance guarantees that transfer across robot embodiments without per-setup engineering.
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Any-Body Guard: Universal Safeguarding for Manipulation Policies via Action Masking
X-Safe masks actions in configuration space using forward kinematics and quasi-static object models to give probabilistic collision-avoidance guarantees that transfer across robot embodiments without per-setup engineering.