CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs
CoWAM only overrides a bimanual robot policy when contract checks say the alternative is safer and better.
The paper frames those checks as contracts for synchronization, role compatibility, and collision convergence. Its intervention layer keeps the policy’s original action unless every active obligation is met; if the original action is inadmissible too, it falls back to abstention. In eight simulated bimanual tasks, CoWAM improved coordination-valid selection by 16.7 points over a contract-only variant and raised closed-loop success by 9.6 points over the strongest selective baseline, while keeping harmful interventions below 1%.
ArXiv · AI/CL/LG's note
The paper frames those checks as contracts for synchronization, role compatibility, and collision convergence. Its intervention layer keeps the policy’s original action unless every active obligation is met; if the original action is inadmissible too, it falls back to abstention. In eight simulated bimanual tasks, CoWAM improved coordination-valid selection by 16.7 points over a contract-only variant and raised closed-loop success by 9.6 points over the strongest selective baseline, while keeping harmful interventions below 1%.
ArXiv · AI/CL/LG's note
score 5