A Safe Action Is Not Enough: Feasible-Future Decoding for Vision-Language-Action Policies

Excerpt

arXiv:2610.05166v2 Announce Type: new 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