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September 10, 2026cs.ROcs.AI

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

Jianming Ma, Rongjun Jin, Xiaxi Si, Yang Zhang, Yiheng Li, Yue Gao
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cs.RO, cs.AI

ActSafeGuard: Differentiable and | One9Founders