VLAモデルの内部活性化による軽量ランタイム監視
Progress Probes $P^2$: Lightweight Runtime Monitoring for Vision-Language-Action Models
VLAモデル自身の内部活性化に線形プローブを学習させて進捗を推定し、想定から外れた実行を検知する軽量なランタイム監視手法を提案した論文。
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著者: Atiksh Bhardwaj, Edward W. Duan, Junwon Seo, Prithwish Dan, Wei-Chiu Ma, Andrea Bajscy, Preston Culbertson
分類: cs.RO
原文アブストラクト
Vision-Language-Action (VLA) models can perform diverse manipulation tasks directly from visual observations and natural language instructions, but they remain prone to mistakes and unpredictable failures. Deploying these policies without continuous human supervision will require robust runtime monitors that detect when the policy has gone off-course. Existing monitors use external foundation models, such as vision-language models (VLMs) to supervise the policy, introducing significant complexity and computational cost for monitoring at runtime. In this work, we investigate an alternate approach: \textit{can a VLA's own internal activations provide the information needed to monitor its execution?} Our method trains linear probes on policy activations from demonstrations to estimate progress, then flags executions that deviate from expected progress. In experiments with the open-source VLA $π_{0.5}$ and across simulated and real-world manipulation tasks, this approach is competitive with or outperforms VLM-based monitors in task failure detection, as well as methods which require failure data for training. These findings suggest that simple probes of VLA internals can be used to develop reliable runtime monitors, opening a path toward building policies that can act reliably and monitor their execution without external foundation models.