Vision-Language-Actionモデルのペア評価におけるテスト状態同一性の検証
Verifying Test-State Identity in Paired Evaluation of Vision-Language-Action Models
VLAモデルのシミュレーション評価で、同じエピソードIDでも終了タイミングにより初期状態が変わり得る問題を指摘し、ペア比較の整合性を保証する検証フレームワークを提案した研究。
著者: Rafiqul Islam
分類: cs.RO
原文アブストラクト
Simulation-based VLA evaluation often treats matching task, seed, and episode identifiers as sufficient evidence that two policies faced identical test conditions. Under specific vectorized reset and autoreset conditions, different termination timing can change subsequent initial-state assignment, so the same episode index need not mean the same test state. We present an evaluation-integrity framework for paired comparison - invariants I1-I5, provenance logging, optional scene fingerprints, and an automated checker - and a controlled LeRobot 0.6.1 LIBERO harness study with emulated controllers. Four evidence levels are kept separate: (A) mixed-horizon Sync wave-1 IDs [20, 5, 22, 7] vs [4, 5, 6, 7]; (B) homogeneous separate-job Sync control (16 cells, 0 ID/fingerprint mismatches); (C) Async+Freeze batch-size map differences (12 I3 mismatches; bs=8 incomplete; mechanism unisolated); (D) a synthetic McNemar illustration only. Controllers were emulated and no real-VLA shared-vector experiment was completed. We recommend checking declared/resolved init-state identity and provenance before paired statistics. We do not claim that published VLA leaderboards are generally invalid.