ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies

arXiv:2609.11697 · cs.RO, cs.AI · Submitted 2026-09-10 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-10

Updated: 2026-09-14

Comments: 8 pages, 4 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Embodied AI — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes

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