AIBullisharXiv – CS AI · 7h ago6/10
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PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
Researchers introduce PaCo-VLA, a safety framework that shields Vision-Language-Action AI models with passivity-based compliance controls for contact-rich robotic manipulation tasks. The system treats VLA outputs as proposals rather than direct commands, using high-frequency energy monitoring to prevent unsafe interactions while maintaining semantic understanding for tasks like connector insertion.