{"id":"https://openalex.org/W7163000016","doi":"https://doi.org/10.48550/arxiv.2605.30834","title":"Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring","display_name":"Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring","publication_year":2026,"publication_date":"2026-05-29","ids":{"openalex":"https://openalex.org/W7163000016","doi":"https://doi.org/10.48550/arxiv.2605.30834"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.30834","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30834","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.30834","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137571549","display_name":"Seongheon Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Seongheon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137522737","display_name":"Wendi Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Wendi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137545058","display_name":"Changdae Oh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oh, Changdae","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048746844","display_name":"Samuel Yeh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yeh, Samuel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137573765","display_name":"Zsolt Kira","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kira, Zsolt","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052368316","display_name":"Michael Hagenow","orcid":"https://orcid.org/0000-0002-4532-2949"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hagenow, Michael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137612232","display_name":"Sharon Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Sharon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7840999960899353,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7840999960899353,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.021400000900030136,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.017999999225139618,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.6377999782562256},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4772999882698059},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46889999508857727},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.42820000648498535},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.40639999508857727},{"id":"https://openalex.org/keywords/resampling","display_name":"Resampling","score":0.4032999873161316},{"id":"https://openalex.org/keywords/conjunction","display_name":"Conjunction (astronomy)","score":0.3361999988555908}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7050999999046326},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.6377999782562256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4991999864578247},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4772999882698059},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46889999508857727},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.42820000648498535},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.40639999508857727},{"id":"https://openalex.org/C150921843","wikidata":"https://www.wikidata.org/wiki/Q1170431","display_name":"Resampling","level":2,"score":0.4032999873161316},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37040001153945923},{"id":"https://openalex.org/C59656382","wikidata":"https://www.wikidata.org/wiki/Q191536","display_name":"Conjunction (astronomy)","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3343000113964081},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3292999863624573},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.29760000109672546},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28290000557899475},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2639999985694885},{"id":"https://openalex.org/C66283442","wikidata":"https://www.wikidata.org/wiki/Q1389268","display_name":"Failure mode and effects analysis","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.30834","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30834","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.30834","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30834","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2],"enable":[3],"robots":[4],"to":[5,19,151],"follow":[6],"natural":[7],"language":[8],"instructions":[9],"and":[10,91,99,119,131,148,154],"generalize":[11],"across":[12,62,124],"diverse":[13],"tasks,":[14],"but":[15],"they":[16],"remain":[17],"vulnerable":[18],"execution":[20,32],"failures":[21,30],"that":[22,77],"compromise":[23],"reliability":[24],"in":[25],"real-world":[26,121],"deployment.":[27],"Detecting":[28],"such":[29],"during":[31],"is":[33],"therefore":[34],"critical":[35],"for":[36],"the":[37],"robust":[38],"deployment":[39],"of":[40],"embodied":[41],"systems.":[42],"Existing":[43],"failure":[44,67,80,103,137],"detection":[45,81,138],"methods":[46],"either":[47],"rely":[48],"on":[49,116],"expensive":[50],"action":[51],"resampling":[52],"or":[53],"external":[54],"models,":[55],"while":[56],"alternatives":[57],"propagate":[58],"trajectory-level":[59,106],"labels":[60],"uniformly":[61],"every":[63],"timestep,":[64],"obscuring":[65],"localized":[66],"signals.":[68],"In":[69],"this":[70],"paper,":[71],"we":[72],"propose":[73],"\\textbf{Hide-and-Seek},":[74],"a":[75,83,120,141],"framework":[76],"formulates":[78],"VLA":[79,127],"as":[82],"coarsely":[84],"supervised":[85],"learning":[86],"problem.":[87],"By":[88],"combining":[89],"inter-trajectory":[90],"intra-trajectory":[92],"contrastive":[93],"objectives,":[94],"Hide-and-Seek":[95,115],"localizes":[96],"failure-indicative":[97],"actions":[98],"induces":[100],"temporally":[101],"structured":[102],"signals":[104],"from":[105],"supervision":[107],"alone,":[108],"without":[109],"any":[110],"step-level":[111],"annotation.":[112],"We":[113],"evaluate":[114],"LIBERO,":[117],"VLABench,":[118],"robotic":[122],"platform":[123],"three":[125],"representative":[126],"policies:":[128],"OpenVLA,":[129],"$\u03c0_0$,":[130],"$\u03c0_{0.5}$.Our":[132],"method":[133],"achieves":[134],"state-of-the-art":[135],"multi-task":[136],"performance":[139],"with":[140],"practical":[142],"accuracy--timeliness":[143],"trade-off":[144],"under":[145],"conformal":[146],"prediction,":[147],"generalizes":[149],"well":[150],"both":[152],"seen":[153],"unseen":[155],"tasks.":[156]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-06-02T00:00:00"}