ActForesight: Predictive Safety for Embodied Agents with Action-Conditioned Visual Futures and Motion Monitoring

Embodied agents must continuously perceive, reason, and act in dynamic physical environments, where the consequences of an action may unfold beyond the current observation. We present ActForesight, a closed-loop predictive safety framework that combines action-conditioned visual futures with independent motion monitoring for pre-execution physical-safety assessment. Given a candidate action, an action-conditioned world model generates multiple possible visual futures, which are analyzed by a shared Safety Critic to identify evidence of potential physical hazards. A risk-sensitive Any-Block aggregation rule converts future-level judgments into an action-level safety decision, blocking an action whenever any predicted future reveals a safety-critical consequence. In parallel, an independent motion-safety monitor evaluates candidate trajectories against explicit kinematic and geometric constraints, including joint limits, workspace boundaries, and geometric reachability. The two branches are integrated as a complementary safety filter before task-utility-based action selection, preserving the original task objective while incorporating predictive safety checks. Experiments in simulated robotic manipulation tasks show that action-conditioned visual futures capture action-dependent physical consequences, multi-future prediction broadens safety-critical consequence coverage, and motion monitoring complements visual reasoning by identifying constraint-related hazards. Together, these components provide a more comprehensive basis for pre-execution physical-safety assessment and demonstrate how world models and explicit motion constraints can jointly support safer embodied decision-making.