WBAG: A Whole-Body and Attached-Geometry Safety Framework for Vision-Language-Action Manipulation
WBAG is a safety framework for Vision-Language-Action (VLA) robots to prevent collisions during manipulation. It models the robot's entire body and attached objects as dynamic geometry, creating a grasp-conditioned safe set. This set generates collision avoidance constraints that are applied directly to the robot's native actions, ensuring safe movement without retraining controllers.