PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation

arXiv:2606.08414v1 Announce Type: cross Abstract: Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing approaches impose safety either prematurely during training or reactively via external guardrails at test time, limiting policy expressivity and overall scalability. We propose Physical safety Alignment for Constrained Trajectories (PACT), a self-evolving post-training framework that projects pretrained diffusion policies onto constraint-feasible regions without accessing

Source: arXiv cs.AI — read the full report at the original publisher.

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