ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models
Contact-rich manipulation failures are often detected only after the robot has committed to contact. This is especially limiting in wrist-camera setups: close gripper--object views help observe contact, but a poor approach may already push, miss, slip, or disturb the object before conventional detectors react. We introduce \emph{ContactGuard}, a pre-contact execution monitor for chunked visuomotor policies. Given the policy's planned action chunk, ContactGuard predicts its short-horizon conseque
Record details
Published: 13 August 2026
Source: arXiv cs.AI
Category: Research
Topics: Regulation · Agents & autonomy
Retrieved: 14 August 2026
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ethics.ai (13 August 2026), “ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models,” evidence record 19439, https://ethics.ai/record/19439 (originally published by arXiv cs.AI).
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