Meg Wilkinson

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

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, and deploys VLPSA on a Franka FR3 in cluttered scenes with dynamic obstacles and human interference.