Pre-VLA: Preemptive Runtime Verification for Reliable Vision-Language-Action and World-Model Rollouts
While large vision-language-action (VLA) models and generative world models (WM) have advanced long-horizon embodied intelligence, their practical deployment remains challenged by uncertainty in learning-based action generation. Low-quality actions may cause physical failures during execution or lead to misleading world-model rollouts with redundant rendering costs. To address this issue, we propose Pre-VLA, a unified runtime verification architecture that performs preemptive action validity assessment before physical execution or world-model imagination. Pre-VLA leverages an efficient multimodal backbone with modality-aware pooling and a lightweight dual-branch head to predict both safet...
| Authors | Zhen Sun, Yongjian Guo, Haoran Sun et al. |
|---|---|
| Primary category | cs.CV |
| Published | 21 May 2026 |
| Last updated at source | 21 May 2026 |
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