ValueFormer: Stage-Aware Value Labels for Online Failure Detection and VLA Post-Training
Generalist vision-language-action (VLA) policies now transfer to new scenes with little task-specific training, but they still fail silently: from the action stream alone, a collapsing rollout looks much like one making clean progress, because imitation supplies no notion of progress. The cheap alternative, a terminal success / failure bit, is learnable in principle yet too sparse to say when a rollout went wrong. We argue that the per-frame label is the hard part, and that it works better when continuous and non-monotonic: a score rather than a single success or failure, and one free to fall and then rise again as a rollout goes wrong and recovers. Such a label is cheap to obtain: a pers...
| Authors | Inkyu Sa, Konstantin Stulov, Rajat Bhageria |
|---|---|
| Primary category | cs.RO |
| Published | 3 August 2026 |
| Last updated at source | 14 October 2026 |
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