Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models
cs.RO
Submitted: 2025-12-10
Updated: 2026-09-18
Code: https://github.com/Genesis-Embodied-AI/Genesis
Terminology
Sources
- Towards Safe Robot Foundation Models
- CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation
- Learning Control Barrier Functions and their application in Reinforcement Learning: A Survey
- Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly Strategies
- A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
- A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics
- Alignment and Safety of Diffusion Models via Reinforcement Learning and Reward Modeling: A Survey
- Towards Forceful Robotic Foundation Models: a Literature Survey
- SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning
- Towards Embodied Agentic AI: Review and Classification of LLM- and VLM-Driven Robot Autonomy and Interaction
- ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning
- Robot Air Hockey: A Manipulation Testbed for Robot Learning with Reinforcement Learning
- Multimodal Diffusion Forcing for Forceful Manipulation
- Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
- Learning to be Safe: Deep RL with a Safety Critic
- STARE-VLA: Progressive Stage-Aware Reinforcement for Fine-Tuning Vision-Language-Action Models
- PhysVLM: Enabling Visual Language Models to Understand Robotic Physical Reachability
- Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation
- End-to-End Dexterous Arm-Hand VLA Policies via Shared Autonomy: VR Teleoperation Augmented by Autonomous Hand VLA Policy for Efficient Data Collection
- VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
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