ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies
ActSafeGuard is introduced, a differentiable and training-aligned safeguard layer for flow-matching based policies that integrates hard action feasibility into policy learning, not merely treating safety as an inference-time external component.
Jian-Ming Ma, Rong-Jun Jin, Xia-Xi Si et al.
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