WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
Overview
WBAG introduces a safety framework for VLA policies, modeling whole-body and grasp-dependent geometry. It achieves 97.38% Scene Safety and 59.38% Safe Success on SafeLIBERO benchmark, outperforming other methods in collision avoidance through differentiable CBF constraints.
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- arXiv Robotics — research abstractsWBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
This paper presents WBAG, a safety framework for vision-language-action (VLA) policies that models the robot's whole-body and grasp-dependent attached geometry. WBAG constructs a grasp-conditioned safe set and converts it into differentiable CBF constraints for collision avoidance. On the SafeLIBERO benchmark, WBAG achieves 97.38% aggregate Scene Safety and 59.38% Safe Success, outperforming other methods.
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