# 何时求助：双系统视觉-语言-动作模型中慢模块调度的决策理论解释与测量标准

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-21160
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：将慢模块调用形式化为VoI决策，并在测量系统、LIBERO闭环与部署轨迹上验证调度标准。

# 何时求助：双系统视觉-语言-动作模型中慢模块调度的决策理论解释与测量标准

::: v-pre
> 原文链接：[When to Ask for Help: A Decision-Theoretic Account and Measurement Standard for Slow-Module Scheduling in Dual-System Vision-Language-Action Models](https://arxiv.org/abs/2610.21160)（arXiv 2610.21160 · 发布日期：2026-10-15）

**When to Ask for Help: A Decision-Theoretic Account and Measurement Standard for Slow-Module Scheduling in Dual-System Vision-Language-Action Models**

将慢模块调用形式化为VoI决策，并在测量系统、LIBERO闭环与部署轨迹上验证调度标准。

## 核心要点

- 指出现有慢模块触发缺少共同目标、成本测量和区分调度质量的标准。
- 将调用建模为校准决策问题，用VoI统一固定比例、固定预算和历史门控调度。
- 测得系统ρ跨三个数量级；低ρ测试显示均质崩溃收益消失、异质性下增长。
- LIBERO上自适应触发符合阈值规则，但语言改写未提升成功，回退执行器零净负面。

**验证范围与局限**：验证范围包括FiS-VLA/RoboICL测量、LIBERO两套件14个闭环设置和929条部署轨迹。

## 英文摘要 (Abstract)

Dual-system vision-language-action (VLA) models pair a high-frequency fast policy with a slow, expensive module, and published trigger mechanisms for invoking it lack a shared objective, measured costs, and any standard separating schedule quality from module quality. We provide the missing account: invocation is formalized as a calibrated decision problem whose fixed-ratio, fixed-budget, and history-gated schedules are degenerate cases of one quantity, the Value of Intervention (VoI); a renewal baseline proves the optimal schedule periodic under state-independent collapse, with adaptive gains governed by the cost ratio $ρ$ and the dispersion of collapse. Measured systems span three orders of magnitude in $ρ$ (FiS-VLA $0.95$; RoboICL about $10^3$), and a direct test confirms the low-$ρ$ prediction: calibrated gains vanish under homogeneous collapse and grow with heterogeneity. Fourteen closed-loop arms on LIBERO test the contested middle of the continuum ($ρ=1.53$): the adaptive trigger allocates its queries exactly as the threshold rule predicts, yet the language-rewrite channel cannot convert them into success on either suite, and a revert actuator that undoes a failed rewrite is the only intervention with zero net downside on both LIBERO-Spatial and LIBERO-Goal, where the rewrite deficit deepens from thirteen to forty-two points. A four-measure leak-free protocol cuts apparent early-warning AUC from $0.93$ to $0.62$ on $929$ deployment traces, a detection-limited frontier theorem converts detection quality into a schedulability statement, and a compilation loop turns measured value functions into per-task refresh periods within $2.4\%$ of the closed-loop oracle. Together these results turn slow-module invocation from a design opinion into a measured decision.

作者：Shilin Zhang
:::

## 原始参考来源 (Sources)

- [arXiv 2610.21160：When to Ask for Help: A Decision-Theoretic Account and Measurement Standard for Slow-Module Scheduling in Dual-System Vision-Language-Action Models](https://arxiv.org/abs/2610.21160)