# VLESA: Vision-Language Embodied Safety Agent for Human Activity Monitoring

arXiv: https://arxiv.org/abs/2606.03954 · HTML: https://mlsanity.com/paper/2606.03954/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 19 of its 45 references that are in the map.
- First posted on arXiv 2 Jun 2026.

## Builds on (most cited first, 19 of 19)

- [DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models](https://mlsanity.com/paper/2402.03300/) (2024)
- [Qwen3-VL Technical Report](https://mlsanity.com/paper/2511.21631/) (2025)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectives](https://mlsanity.com/paper/2311.18259/) (2023)
- [Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances](https://mlsanity.com/paper/1709.07523/) (2017)
- [SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning](https://mlsanity.com/paper/2503.03480/) (2025)
- [From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment](https://mlsanity.com/paper/2502.01828/) (2025)
- [Action Scene Graphs for Long-Form Understanding of Egocentric Videos](https://mlsanity.com/paper/2312.03391/) (2023)
- [Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis](https://mlsanity.com/paper/2502.00935/) (2025)
- [VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer](https://mlsanity.com/paper/2512.11891/) (2025)
- [Generating Robot Constitutions & Benchmarks for Semantic Safety](https://mlsanity.com/paper/2503.08663/) (2025)
- [Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification](https://mlsanity.com/paper/2510.16281/) (2025)
- [Steering Dialogue Dynamics for Robustness against Multi-turn Jailbreaking Attacks](https://mlsanity.com/paper/2503.00187/) (2025)
- [Can AI Perceive Physical Danger and Intervene?](https://mlsanity.com/paper/2509.21651/) (2025)
- [How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints](https://mlsanity.com/paper/2511.18606/) (2025)
- [Scalable Synthesis of Formally Verified Neural Value Function for Hamilton-Jacobi Reachability Analysis](https://mlsanity.com/paper/2407.20532/) (2024)
- [AnySafe: Adapting Latent Safety Filters at Runtime via Safety Constraint Parameterization in the Latent Space](https://mlsanity.com/paper/2509.19555/) (2025)
- [Verifiable Safety Q-Filters via Hamilton-Jacobi Reachability and Multiplicative Q-Networks](https://mlsanity.com/paper/2506.15693/) (2025)
- [Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators](https://mlsanity.com/paper/2605.01069/) (2026)

## Abstract (arXiv)

As AI systems increasingly assist humans in physical tasks, ensuring safety becomes paramount -- physical actions carry immediate and irreversible consequences that digital errors do not. We introduce the Vision-Language Embodied Safety Agent (VLESA), a framework that monitors human activities from egocentric video and triggers real-time safety interventions when dangerous actions are predicted. VLESA addresses intent-dependent safety where identical actions can be safe or dangerous depending on context. A dataset pairing egocentric frames with goal-conditioned safety annotations is introduced, enabling a goal-conditioned safety Q-filter trained via GRPO that evaluates actions with respect to inferred intent without retraining. On top of that, an intent-action prediction agent is proposed to jointly infer goals and predict future actions from video. On the ASIMOV-2.0 benchmark, VLESA achieves higher intervention accuracy at the exact ground-truth frame compared to baselines, while the GRPO-trained Q-filter improves action safety by over 41 percentage points through goal-conditioned constrained decoding. Code is available at https://github.com/HanjiangHu/VLESA.