DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies
Vision-Language-Action (VLA) models are often brittle in fine-grained manipulation, where minor action errors during the critical phases can rapidly escalate into irrecoverable failures. Since existing VLA models rely predominantly on successful demonstrations for training, they lack an explicit awareness of failure during these critical phases. To address this, we propose DreamAvoid, a critical-phase test-time dreaming framework that enables VLA models to anticipate and avoid failures. We also introduce an autonomous boundary learning paradigm to refine the system's understanding of the subtle boundary between success and failure. Specifically, we (1) utilize a Dream Trigger to determine...
| Authors | Xianzhe Fan, Yuxiang Lu, Shenyuan Gao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 May 2026 |
| Last updated at source | 23 September 2026 |
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