CrossSafe: Towards Cross-Embodiment Latent Safety Filters
cs.RO, cs.AI, cs.LG, cs.SY, eess.SY
Submitted: 2026-09-24
Updated: 2026-09-30
Project page: https://trustworthyautonomy.github.io/CrossSafe
Terminology
Sources
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models
- Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation
- X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model
- HoloBrain-0 Technical Report
- ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
- GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping
- DexGrasp-Zero: A Morphology-Aligned Policy for Zero-Shot Cross-Embodiment Dexterous Grasping
- OpenVLA: An Open-Source Vision-Language-Action Model
- EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
- Any-Body Guard: Universal Safeguarding for Manipulation Policies via Action Masking
- RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
- $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
- GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation
- CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
- Cross-Embodiment Transfer via Behavior-Aligned Representations
- Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision
- GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization
- EAGG: Embodiment-Aligned Grasp Generation via Geometry-Aware Graph Conditioning
- One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
- Toward Hardware-Agnostic Quadrupedal World Models via Morphology Conditioning
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