SOURCE-LINKED INTELLIGENCE

VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---especially in environments outside of training distributions. This work presents Vision-Language-Poisson-Safe Actions (VLPSA), a safety filtering framework that provides full-body safety for VLA policies in cluttered and dynamic environments without retraining. VLPSA synthesizes Poisson Safety Functions (PSF) online from perception data, yielding a Control Barrier Function (CBF) that is enforced through a CBF-QP safet

Read original source ↗ Open in workspace

recordType

paper

region

Global