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FailureSpot: Label-Efficient Timestamp-Level Failure Detection for Vision-Language-Action Models

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Vision-language-action (VLA) policies have shown strong potential for general-purpose robotic manipulation, but they can still fail unpredictably during long-horizon execution, making reliable failure detection essential for safe deployment. Existing methods either rely on visual models that typically detect failures only after erroneous actions have occurred, or use lightweight proactive detectors trained on VLA internal representations. However, these proactive methods are often supervised with trajectory-level labels, causing normal pre-failure behavior in unsuccessful trajectories to be in

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