RESCUE: Is This Alarm Worth Acting On? Counterfactual Evaluation of VLA Runtime Monitors
Runtime failure monitors for robot policies are typically evaluated by how accurately they distinguish failed from successful executions. Yet an accurate alarm may arrive too late for recovery, while an unnecessary intervention may disrupt an execution that would otherwise succeed. We introduce RESCUE, a counterfactual framework for evaluating whether a monitor's alarms enable useful interventions. By restoring simulator and policy states at execution checkpoints, RESCUE compares alternative actions, identifies the latest checkpoint satisfying a specified recovery criterion, and evaluates whether acting on alarms reduces expected task-completion cost. We evaluate RESCUE with OpenVLA-OFT a...
| Authors | David Ahmedt-Aristizabal, Abdelwahed Khamis, Mohammad Ali Armin et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 October 2026 |
| Last updated at source | 9 October 2026 |
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