Learning Safe Flow Matching Robot Policies from Binary Feasibility Oracles
arXiv:2610.40075v1 Announce Type: cross Abstract: Robot foundation models increasingly rely on flow-based action generation for general-purpose manipulation, yet the generated actions are not guaranteed to satisfy physical constraints such as joint limits and collision avoidance. This problem is especially challenging when the feasible set cannot be described analytically and is accessible only through black-box feasibility oracles. We study this practical oracle-only setting and propose an ora…