DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies

Excerpt

arXiv:2605.11750v2 Announce Type: replace-cross Abstract: Vision-Language-Action (VLA) models are often brittle in fine-grained manipulation, where minor action errors during the critical phases can rapidly escalate into irrecoverable failures. Since existing VLA models rely predominantly on successful demonstrations for training, they lack an explicit awareness of failure during these critical phases. To address this, we propose DreamAvoid, a critical-phase test-time dreaming framework that ena