ActProbe: Action-Space Probe for Early Failure Detection of Generative Robot Policies
Generative robot policies fail unpredictably at deployment: they hesitate at critical moments, drift off-task, or commit to unrecoverable actions. Existing online failure detectors either require white-box access to policy internals or add runtime overhead through resampling and observation-side signals. Our empirical analysis shows that emitted action chunks themselves already carry strong predictive signal for impending failures in generative robot policies. Motivated by this observation, we introduce ActProbe, a lightweight, pure action-space detector that uses two compact signals available from a single forward pass: Temporal Consistency Error (TCE) between consecutive action chunks a...
| Authors | Bingjia Huang, Xiangyu Li, Xiang Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 June 2026 |
| Last updated at source | 7 June 2026 |
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