Natural State-Prediction Accuracy can Hide Weak Controlled Responsiveness in VLA Readouts
Accurately decoding object states from the internal representations of vision-language-action (VLA) models does not establish that the predictions respond faithfully to changes in the target physical state. In natural observations, object state, robot configuration, occlusion, and task progress vary together, allowing contextual cues to contribute to prediction. In this paper, we introduce an evaluation framework that separates prediction accuracy, target-state responsiveness, and context stability using physically validated observations that cross target coordinates with robot contexts. We demonstrate that high natural-trajectory accuracy can coexist with weak controlled target-state res...
| Authors | Hyungjoon Kim, Wonbin Son, Mi Young Lee et al. |
|---|---|
| Primary category | cs.RO |
| Published | 28 September 2026 |
| Last updated at source | 28 September 2026 |
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