外观
论文arXiv 2610.0516624 天前
安全动作还不够：面向视觉-语言-动作策略的可行未来解码
原文链接：A Safe Action Is Not Enough: Feasible-Future Decoding for Vision-Language-Action Policies（arXiv 2610.05166 · 发布日期：2026-10-04）
A Safe Action Is Not Enough: Feasible-Future Decoding for Vision-Language-Action Policies
针对VLA策略可能选择无可行安全后续的动作，提出免训练VICS-G重排序器，并在六个Safety-CHORES设置验证。
核心要点
- 指出局部可接受动作可能切断冻结VLA策略支持的安全完成路径。
- 推导受安全任务完成约束的轨迹律下一块边缘，引入可行未来质量。
- 以选择性有限候选近似实现在线评估，并给出恢复最佳保留可行候选的条件。
- VICS-G在六个Safety-CHORES设置降低平均累计安全成本，且成功率和步长接近策略采样。
验证范围与局限：验证范围为六个Safety-CHORES设置；摘要未说明仿真或真机。
英文摘要 (Abstract)
A safe action is not necessarily a viable one. A frozen vision-language-action (VLA) policy can favor a locally admissible move that leaves no policy-supported route to safe task completion. We call this the feasibility-likelihood gap: likelihood ranks the next move, while feasibility depends on the futures it leaves open. To bring those futures into the decision, we derive the exact next-block marginal of the history-conditioned policy-environment trajectory law restricted to safe task completion. The derivation reveals a candidate-dependent feasible-future mass: its support records whether safe completion remains possible under the frozen continuation process, while its magnitude measures how much weighted safe-completion mass remains. Since exact evaluation is impractical online, we develop a selective finite-candidate approximation and establish conditions for recovering the best retained viable candidate. Our alarm-triggered, training-free reranker VICS-G lowers mean cumulative safety cost by 1.9%-57.5% across six Safety-CHORES settings while remaining within 2.5 percentage points of policy sampling in success and 0.82 steps in mean episode length. Our approach offers a promising and practical path toward safer task completion, grounded in an exact policy-relative target yet requiring neither policy retraining nor online rollouts.
作者：Tu Nguyen, Matthieu Zimmer, Vu Anh Vu, Ziyi Wang, Jannik Hammel Nielsen, Xuebing Zhou, Haitham Bou Ammar
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