X-Safe: Embodiment-Agnostic Safeguarding for Robot Arm Manipulation Policies via Action Masking
X-Safe is a universal safety method for robot arms that works regardless of their physical design or learned policies. It avoids needing specific engineering for each robot by reasoning directly in configuration space to provide formal probabilistic guarantees against collisions. The system computes safe regions and uses action masking to adjust intended actions into safe ones, showing lower performance loss than existing methods.