Salient
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Semantic Steering for Controllable Generation: Tuning-Free Concept Erasure in Multimodal Diffusion Transformers
2026-08-13 05:05:45Qiao Li, Xiaomeng Fu, Yuanshu Zhao, Qipeng Wang, Jiao Dai, Jizhong HanAbstract
Multimodal Diffusion Transformers (MM-DiTs) have demonstrated remarkable text-to-image generation performance, surpassing traditional U-Net-based diffusion models. Nevertheless, their powerful generative capabilities also raise significant safety concerns, as they may generate sensitive or inappropriate content. While existing concept erasure methods aim to mitigate such risks, most require modifying model parameters, which are often architecture-specific and impractical for deployed larger models. Several tuning-free approaches face challenges when applied to advanced large-scale MM-DiTs due to their deeply embedded knowledge, broad semantic space, and context-dependent text encoders. To address these challenges, we propose to erase concepts by directly manipulating the model's internal representations. Our key insight, derived from an in-depth analysis of MM-DiT's block-wise generative roles, is that text-conditioned semantic representations are most salient in the middle blocks of MM-DiTs. Based on this, we extract representations of an unwanted concept and a desirable safe one from the middle block, construct a steering vector from their difference, and inject this single vector into consecutive early and middle blocks. By operating exclusively on the sparse text-branch tokens and leveraging the straight sampling trajectory of rectified flow, our method achieves effective concept erasure with negligible overhead and without any training. Extensive experiments across MM-DiT models demonstrate that our method achieves state-of-the-art performance in erasing diverse concepts, enables effective control over the final output, and remains robust to adversarial attacks.
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URL
https://arxiv.org/abs/2608.12829
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Structured Local Differential Modeling for AI-Generated Image Detection
2026-08-13 04:35:29Jiazhen Yang, Ruijin Jin, Junjun Zheng, Xiangheng Kong, Zunlei Feng, Jie LeiAbstract
The rapid advancement of AI-generated content has made the reliable detection of generated images an increasingly critical challenge. Existing detection methods are often dominated during training by semantically salient components with high signal-to-noise ratios (SNRs), thereby suppressing subtler forensic cues associated with the underlying generation mechanisms and embedded in low-level statistical structures. From an information-theoretic perspective, we present a key insight: effective detection in the low-level statistical space requires mitigating the dominance of semantic components while emphasizing and amplifying responses to low-SNR forgery traces. Building on this insight, we propose RippleNet, an AI-generated image detection framework based on local differential signals. RippleNet adaptively identifies forgery-sensitive regions and constructs multi-directional, multi-scale differential representations within local neighborhoods, explicitly characterizing anomalous patterns in neighborhood statistics. More importantly, we refine the attention mechanism to operate within the local differential representation space, enabling the model to establish explicit dependencies at a finer statistical granularity. This design facilitates the capture of pixel-level forgery traces that are difficult to model using conventional convolutions or image-wide patch-level attention. Extensive experiments on multiple public benchmarks and under cross-generator evaluation settings demonstrate that RippleNet achieves consistently competitive performance.
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URL
https://arxiv.org/abs/2608.12811
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Enhancing Visual Domain Robustness in Behaviour Cloning via Saliency-Guided Augmentation
2026-08-12 09:55:07Zheyu Zhuang, Ruiyu Wang, Nils Ingelhag, Ville Kyrki, Danica KragicAbstract
In vision-based behavior cloning (BC), conventional image augmentations such as Random Crop and Color Jitter often fall short under substantial visual domain shifts, including changes in shadows, distractors, and backgrounds. Superimposition-based augmentations, which blend in-domain and out-of-domain images, have shown promise for improving generalization in computer vision, but their suitability for BC remains uncertain because task-critical semantics, spatiotemporal relationships, and agent-target interactions must be preserved. To address this, we introduce RoboSaGA, a Saliency-Guided Augmentation method within the superimposition family tailored for vision-based BC. RoboSaGA dynamically adjusts augmentation intensity at the pixel level using policy-driven saliency, enabling aggressive augmentation in task-irrelevant regions while preserving task-critical information. It integrates seamlessly into existing architectures without requiring structural modifications or additional learning objectives. Experiments in both simulated and real-world settings show that RoboSaGA preserves in-domain performance while substantially improving robustness to visual domain shifts, including distractor and background changes, as well as lighting and shadow variations. Code is available at this https URL.
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URL
https://arxiv.org/abs/2608.11870
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CAM-Guided Saliency Cutout and Image-Based Malware Classification
2026-08-12 04:32:00Yasaman Ebrahimi, Martin Jurecek, Mark StampAbstract
Dropout regularization is commonly used to reduce overfitting by removing parts of a neural network during training. For Convolutional Neural Networks (CNN), cutouts serve a somewhat analogous purpose. Cutouts can be implemented as data augmentation: the original training image is retained, and additional copies are created with regions removed. In this chapter, we test whether cutout placement can be improved by using High-Resolution Class Activation Mapping (HiResCAM). We compare four controlled training conditions: no cutout, standard random cutout, low-saliency cutout, and high-saliency cutout. We experiment using grayscale malware images from the RawMal-TF dataset (17 families with~1,000 samples per family), and for comparison to natural images, we experiment with the well-known CIFAR-100 dataset. All experiments are based on ResNet18 with~100 training epochs. For the cutout experiments, we test cutout areas of~5\%, 10\%, 20\%, and~30\%, and we consider~$M\in\{4,8}$ augmented copies per original training image. The RawMal-TF results are slightly worse for all three cutout cases (random, high and low saliency) as compared to no cutouts. In contrast, our CIFAR-100 experimental results improve slightly under low-saliency cutout. These results suggest that the value of saliency-guided cutout is domain dependent, and that malware images should not be treated as equivalent to natural images.
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URL
https://arxiv.org/abs/2608.11634
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MUSE: A Full-Text Cross-Domain Knowledge Base of Scientific Problems, Solutions, and Rationales
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Scientific papers contain fine-grained records of problem solving: authors mention technical obstacles and methods that were used to address them, often along with reasoning on why those methods were chosen. We introduce MUSE (Mining Underlying Scientific Explanations), a full-text, multi-domain resource of scientific Problem-Solution-Rationale (P-S-R) triplets. We curate 579 expert-annotated full-text paragraphs, with a rich annotation schema covering salient problem, solution, and rationale spans, solves and rationale_of links and conceptual coreference. A modular extraction pipeline scales this annotation to build a high-quality knowledge base of 37K source-grounded P-S-R triplets. We evaluate the extraction components and include a preliminary experiment training a rationale-supervised LLM for scientific problem solving. Interestingly, we find that rationale supervision improves performance on complex, multi-constraint problems but can harm performance on simpler ones.
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URL
https://arxiv.org/abs/2608.10974
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Compact Feed-Forward 3D Gaussians via Saliency-Guided Primitive Merging
2026-08-11 09:32:08Tim-Felix Fassch, Jochen Kall, Cyrill StachnissAbstract
3D scene reconstruction, modeling, and rendering are highly relevant for numerous tasks, and 3D Gaussian splatting has become a standard choice in this context. Its feed-forward variants provide fast reconstruction from sparse input views but often produce per-pixel primitives, leading to highly redundant and thus inefficient representations. We present a structure-aware merging pipeline that takes per-pixel primitives from any feed-forward method and consolidates them into a compact, content-adaptive Gaussian set while largely retaining visual quality at just $\frac{1}{20}^\text{th}$ of the Gaussians of a per-pixel method. We group spatially coherent Gaussians of similar appearance into variable-size clusters via adaptive superpixel segmentation guided by a saliency map, which allocates fine segments to textured regions and coarse segments to homogeneous areas. We compress each cluster into a compact latent representation through a learned encoder, then match and consolidate representations across views based on geometric overlap and feature similarity via a learned merger. A level-of-detail decoder then produces the final Gaussians at a controllable resolution, enabling a flexible quality-efficiency trade-off at inference. As a post-processing module, the pipeline is backbone-agnostic, leveraging the strengths of existing feed-forward methods. This leads to better and more robust quality than achieved by previous approaches that target a reduction in primitive count, while providing a highly compact representation, that can be rendered efficiently.
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URL
https://arxiv.org/abs/2608.10712
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Unlocking the Power of Medical Tabular Data via Semantic-Aware Multimodal Pre-training
2026-08-11 05:57:09Yingsheng Liu, Haiming Li, Jingmin Zhu, Jiajun Sun, Victoria Mar, Monika Janda, H. Peter Soyer, Zongyuan Ge, Zhen YuAbstract
While vision-language models dominate medical representation learning, unstructured text lacks the dense, quantitative diagnostic phenotypes inherent in structured clinical tables. However, existing multimodal pre-training methods underutilize this potential due to semantic-agnostic designs that treat tabular inputs as flat vectors and employ unstable continuous regression objectives. To overcome this, we propose a novel semantic-aware framework explicitly modeling the intrinsic two-dimensional structure of tabular data. First, addressing the inter-feature hierarchy of varying diagnostic importance, we introduce Importance-Aware Adaptive Masking to construct a label-free curriculum prioritizing salient features. Second, addressing the intra-feature continuity-discreteness duality, we propose a Soft-Label Discretized Module that replaces unstable numerical regression with stable distribution matching, thereby mathematically preserving ordinal relationships. Extensive experiments across large-scale dermatology (SLICE-3D, HOP) and ophthalmology (EyePACS) datasets establish a new state-of-the-art (SOTA), demonstrating exceptional robustness and cross-domain generalizability.
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URL
https://arxiv.org/abs/2608.10522
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Human versus Computer Vision
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Computer vision saliency models predict where people will look, one map per image, and a billion-dollar predicted-attention industry sells those maps in place of measuring real viewers. I test the leading models from the audience side, against 11.4 million webcam gaze points from 3,023 US adults recruited to national quotas, viewing circulating news photographs. I show that an untrained central marker outperforms every trained network, because the content the networks add on top of the center falls where these audiences never look. What accuracy remains is systematically biased, favoring younger, White, and moderate viewers over older, Black, and ideologically extreme ones. I propose a way forward and build on what a group's own gaze reveals about whether a model can learn that group at all, and I apply it across every demographic axis this sample supports. Ultimately, I show how systems that decide what people see can learn to see everyone, and this study supplies the standard by which such a claim should be judged.
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URL
https://arxiv.org/abs/2608.10181
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Disentangling Co-Occurring Retinal Pathologies with Saliency-Guided Sparse Expert Routing
2026-08-10 15:43:43Nagur Shareef Shaik, Jeongwoo Park, Yeong-Jin Kim, Jaeuk Jung, Hyunjung Oh, Dong Hye YeAbstract
Retinal fundus images frequently exhibit multiple co-occurring pathologies, yet standard deep learning classifiers apply static, identical computation to every image regardless of the underlying disease distribution. We propose a novel architecture that resolves this via sparse conditional computation, pairing a Guided Context Gating (GCG) spatial attention front-end with a sparsely-routed Mixture-of-Experts (MoE) block operating over feature tokens. Crucially, this routing yields an interpretable, data-driven decomposition. Expert allocation is significantly disease-dependent (p < 0.001), with the healthy Normal state and morphologically distinct pathologies (e.g., ERM, AMD) isolating to dedicated experts. On a five-class, patient-disjoint 5-fold cross-validation benchmark, our model achieves 0.912 +/- 0.008 macro AUC and 0.653 +/- 0.014 macro F1. Furthermore, Grad-CAM++ and post-MoE t-SNE visualizations confirm that expert routing aligns with localized lesions and geometrically maps co-occurring cases between their constituent clusters, positioning sparse MoE as an interpretable approach to multi-disease retinal screening.
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URL
https://arxiv.org/abs/2608.09752
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HarnessWAM: Bridging Prediction and Deliberation in World Action Models
2026-08-10 12:15:59Zhaopeng Gu, Bingke Zhu, Tianxi Lin, Guibo Zhu, Yingying Chen, Kai Wang, Tingyu Yuan, Chaoyang Zhao, Zhaowen Li, Peng Su, Jinqiao WangAbstract
World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physical evolution into embodied control. However, finite-horizon prediction and action generation are insufficient for complex embodied tasks that require global planning, cross-stage state maintenance, execution verification, and failure recovery. We refer to this mismatch as the prediction-deliberation gap of WAMs. To address this gap, we propose HarnessWAM, an agentic framework for WAMs. HarnessWAM employs a vision-language-model-based Task Manager to maintain an evidence-grounded scene belief and a structured task graph. A capability-conditioned executable-space projection further constrains open-ended semantic plans into sequences of atomic skills that satisfy task dependencies, embodiment-state constraints, and the capability boundary of the underlying WAM. During execution, HarnessWAM operates through an event-driven, dual-timescale feedback loop: a lightweight progress estimator continuously provides high-frequency execution evidence, while the Task Manager deliberates at salient milestones by jointly considering the current observation, task state, and interaction history to determine whether to advance the task, acquire additional observations, revise the plan, or initiate local recovery. This mechanism enables the robot to recover its state after a subtask failure and resume execution without discarding previously acquired scene knowledge. HarnessWAM achieves state-of-the-art full-task and subtask success rates of 59.6% and 69.9% on RoboMemArena, and an SR of 23.7% on RoboCerebra Ideal. These results demonstrate that model-external structured state maintenance and closed-loop agentic decision making can effectively extend the local control capabilities of WAMs into embodied task execution that is plannable, verifiable, and recoverable.
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URL
https://arxiv.org/abs/2608.09516
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PatchHead: Learning Spatial Patch Evidence for Generalizable AI-Generated Image Detection
2026-08-10 07:47:22Shengbo Qi, Hongyi Fang, Benjia Zhou, Rui MaoAbstract
AI-generated image detectors generalize poorly when their training and test images originate from different generators or datasets. Despite the rich spatial representations produced by vision foundation models like DINO, existing detectors typically classify images using only the globally aggregated CLS token. We hypothesize that globally aggregating DINO features into a single CLS token obscures spatially distributed generation traces. To test this hypothesis, we introduce PatchHead, a lightweight spatial aggregation head that preserves the two-dimensional organization of DINO patch tokens and integrates evidence across neighboring regions. During training, we freeze the pretrained DINO backbone and optimize only the inserted LoRA adapters, PatchHead, and auxiliary projection head. Across nine cross-dataset benchmarks spanning manually curated and in-the-wild settings, PatchHead ranks first on seven datasets and second on the remaining two. It improves the strongest prior method from 91.6% to 94.6% in average balanced accuracy (+3.0 points) and raises the worst-case accuracy from 82.4% to 89.4% (+6.9 points), while introducing only 8.6% more trainable parameters and 0.08% additional FLOPs. Further qualitative analysis suggests that PatchHead (i) reduces class-conditional domain discrepancy, and (ii) redirects the representation from content-dominated saliency toward spatially distributed authenticity evidence. Together, these observations provide a representation-level account of why spatial patch aggregation transfers more reliably across generators and datasets than a single CLS-based global representation. Our code and models will be made available upon acceptance.
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URL
https://arxiv.org/abs/2608.09223
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Detecting Clear Contact Lenses for Iris Recognition: A Two-Stage Mask-Guided Attention Approach
2026-08-10 00:44:37Parisa Farmanifard, Arun RossAbstract
This work focuses on the impact and detection of clear contact lenses in the context of iris recognition. While the detection of cosmetic or patterned contact lenses has been extensively studied under the presentation attack detection (PAD) paradigm, clear prescription contact lenses, that are typically transparent, have received comparatively less attention despite their widespread use. Unlike patterned lenses, clear lenses introduce no salient texture artifact, making them difficult to detect and are often assumed to have no impact on iris recognition. We first examine this assumption using the commercial VeriEye matcher on four benchmark datasets and show that clear lenses marginally degrade genuine match scores and increase verification error. We then propose a two-stage contact-lens detection framework. Stage~1 uses an existing PAD model to identify patterned lenses, while Stage~2 focuses on the more challenging clear-lens versus no-lens distinction using a ConvNeXt-Base model equipped with Mask-Guided Spatial Attention (MGSA). The proposed MGSA module incorporates a Hough-derived anatomical ROI mask together with learned spatial attention and Squeeze-and-Excitation channel recalibration, allowing the network to focus on subtle limbal cues associated with clear lens wear. Across four datasets, the full pipeline consisting of both patterned and clear contact lens detection achieves between 90.0\%--98.8\% accuracy. Finally, we introduce a z-score calibration method that adjusts VeriEye match scores when a clear lens is detected in the input images. This calibration reduces EER by 4.1\%--28.3\% across datasets, demonstrating that reliable clear contact lens detection can directly improve iris verification performance.
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URL
https://arxiv.org/abs/2608.08977
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OnEvoMemory: Evolving Memory through Online Robot Rollouts for Pretrained Robot Policies
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Long-horizon robot manipulation requires policies to track completed subtasks and critical interaction events. However, existing memory mechanisms heavily rely on external models or predefined update rules. To address this, we propose OnEvoMemory, a value-guided memory module for pretrained robot policies. It maintains recent context, high-value experiences, and salient transitions, while learning which experiences should be retained from trajectory outcomes. Offline demonstrations initialize the memory prior, whereas successful and unsuccessful online rollouts refine memory selection, helping the policy recognize task-stage transitions and avoid repeating completed subtasks. Experiments on long-horizon manipulation benchmarks show that OnEvoMemory improves the performance of the base VLA policy through both offline initialization and online memory evolution.
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URL
https://arxiv.org/abs/2608.08749
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Do Evaluation Metrics Detect Errors in Classical Chinese to English Translations?
2026-08-08 18:28:43Osvaldo Quinjica, Eric Bennett, Xinchen Yang, Andrew Schonebaum, Marine CarpuatAbstract
Although large language models can translate some historical languages surprisingly well, their usefulness in digital humanities workflows is limited by the lack of reliable evaluation. We investigate whether existing automatic evaluation metrics developed for modern languages are reliable in this setting, using translation from Classical Chinese to English as a test case. We introduce a diagnostic framework based on minimal pairs capturing error types salient in scholarly use, probing both reference-based and reference-free metrics for error sensitivity and tolerance to valid variation. We find that all metrics exhibit blind spots, however MetricX24 performs best overall. Our findings highlight the need for more robust and interpretable metrics for historically and culturally distinct translation settings.
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URL
https://arxiv.org/abs/2608.08283
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IRPol-Fuse: Energy-structure coordination for infrared polarization fusion under low visibility
2026-08-08 01:35:25Zhuangfan Huang, Chusheng Fang, Xiaosong Li, Yang Liua, Xiaoqi Cheng, Haishu TanAbstract
Robust perception under low-visibility conditions requires fused imagery that jointly preserves infrared thermal saliency and polarization-derived structural details. However, existing infrared-polarization image fusion (IPIF) methods often overemphasize dominant infrared responses, causing weak yet informative polarization textures in dark regions to be suppressed. To address this issue, we propose IRPol-Fuse, an energy-structure coordinated IPIF framework for challenging low-visibility scenarios. The proposed framework contains three key modules: Polarization Attention Fusion for adaptive infrared-polarization allocation, Infrared Highlight Injector for highlight-guided infrared preservation, and Polarization Texture Injector for polarization texture restoration and fine-detail recovery. We further construct LI-PI, a dedicated infrared-polarization evaluation dataset for low-visibility and visually concealed scenes. Experiments on LI-PI and the public LDDRS dataset demonstrate that IRPol-Fuse achieves favorable performance in thermal target preservation, structural detail recovery, and visual naturalness. Region-aware evaluation and downstream object detection further verify that the proposed energy-structure coordination strategy effectively preserves both infrared target saliency and polarization-derived structural information. Code is available at this https URL .
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URL
https://arxiv.org/abs/2608.07848
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Learning visual representations for compositional analysis of artworks and photographs
2026-08-06 15:11:24Fatemeh Behrad, Tinne Tuytelaars, Johan WagemansAbstract
Composition, the deliberate arrangement of visual elements, is central to how meaning, emotion, and aesthetic quality are conveyed in artwork, yet it remains among the least formalized dimensions of visual understanding. Prior work highlights a persistent gap in learning meaningful compositional representations, attributing it to semantic bias and suggesting that human-inspired approaches may be key. We compare two parallel paradigms for composition analysis: a human-inspired method grounded in perceptual grouping, and fine-tuned foundation models enabled by recent large-scale compositional datasets. The human-inspired approach uses object-centric models for region-level decomposition and a graph attention network to capture spatial relationships between elements. Both paradigms are evaluated on composition score/category prediction, compositional image retrieval, and visual saliency detection. With frozen encoders, the human-inspired method achieves competitive performance while remaining interpretable. When sufficient data enables fine-tuning, large self-supervised models outperform significantly, but at the cost of interpretability and cross-domain generalization.
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URL
https://arxiv.org/abs/2608.06142
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EdgeXpert: An Edge Device for Memory-Efficient LLM Inference with Mixture-of-Experts and Speculative Decoding
2026-08-05 18:03:47Sangwoo Ha, Hyunwoo Seo, Yurim Jo, Youngjin Moon, Hoi-Jun YooAbstract
On-device deployment of Large Language Models (LLMs) has become essential for personalized edge applications. A primary bottleneck is external memory access (EMA) in feed-forward network (FFN) layers. Speculative decoding and mixture-of-experts (MoE) are promising solutions. Speculative decoding reduces the number of decoding stages by generating multiple tokens per stage, and MoE minimizes per-stage cost through sparse expert activation. However, there is an incompatibility when combining these two techniques. We propose EdgeXpert, a software-hardware co-designed LLM accelerator that resolves this incompatibility. In the prefill stage, the prompt-wise expert reuse reformulates routing as prompt-level expert reuse rather than independent per-token expert selection. It identifies important tokens using a lightweight encoder, constructs a shared expert set from them, and routes less important tokens with a reduced expert budget to lower expert EMA. In the decode stage, depth-aware expert coalescing exploits the contextual similarity and mutual exclusivity of same-depth candidate tokens. Rather than loading the union of all required channels, EdgeXpert loads only salient channels and applies computational calibration to recover accuracy without additional memory access. Synthesized in Samsung 28nm technology at 800 MHz, EdgeXpert achieves up to 56.3% latency reduction and 44.1% energy reduction compared to prior works, while maintaining near-baseline accuracy.
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URL
https://arxiv.org/abs/2608.05303
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WorldMark: A Plug-and-Play World Knowledge Interface for Cross-Host Language Model Watermarking
2026-08-05 16:34:32Song Xiao, Yuqi Yuan, Yanshuo Zhang, Kejun ZhangAbstract
Watermarking traces the provenance of text produced by large language models by embedding statistically detectable signals during decoding. Existing schemes fall into logits-based, sampling-based, entropy-aware, and adaptive-strength families, yet all of them place watermark signals according to local token statistics. In the open-ended text-generation settings evaluated in this work, local statistics may provide insufficient guidance for placing robust watermark signals. We introduce WorldMark, a plug-and-play interface that uses World Knowledge Memory (WKM) to organize semantic and episodic knowledge in a memory graph, converts the retrieved knowledge into a token-level knowledge saliency score, and adjusts the strength of a host watermark through Asymmetric Knowledge Modulation (AKM). WorldMark requires no backbone retraining and introduces no additional detector-side model or parameter. On the primary C4 evaluation, the complete WorldMark interface improves clean and attacked detection across three adaptive-strength host variants while slightly reducing perplexity. Additional pilot experiments on C4 and OpenGen show that direct memory conditioning transfers across multiple watermark families but can be unstable without saliency-aware modulation. WorldMark requires no additional detector-side model or parameter and introduces negligible overhead under the primary protocol.
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URL
https://arxiv.org/abs/2608.06416
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Global Attention-Fused Image Cropping with Attention-Guided and Global-Aligned Crop Evaluator
2026-08-05 13:23:51Haotian Yang, Zhile Yang, Kin-Man Lam, Patrick Le Callet, Xin SunAbstract
Image cropping aims to improve image aesthetics by preserving important content within an appropriately composed region. However, most existing methods focus primarily on salient regions and therefore have limited sensitivity to the global relationships among the main image components. To address this limitation, we propose Global Attention-Fused Image Cropping (GAFIC), which consists of an Attention-Guided Feature Fusion (AGFF) and a Global-Aligned Crop Evaluator (GACE). AGFF aggregates the importance of local regions to construct a global representation that captures both image structure and local details. GACE aligns candidate crop features with this global representation, enabling crop evaluation to remain sensitive to boundary changes. We further combine three ranking losses across multiple scales to obtain accurate and stable crop scores. Extensive experiments on the GAIC and CPC datasets demonstrate that GAFIC outperforms existing image-cropping methods, particularly in terms of accuracy and stability. Unlike pixel-level retargeting methods such as seam carving, inpainting, and diffusion-based synthesis, GAFIC does not synthesize or modify the retained pixels; instead, it selects an aesthetically preferred crop from the source image, making it suitable for scenarios where pixel integrity and efficient batch processing are important. The source code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2608.04821
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GUARD: Grounding Uncertainty and Ablation-Based Risk Detection for Diffusion-Based VLAs
2026-08-05 06:48:15Suhas Hegde, Jitendra Yasaswi Bharadwaj KattaAbstract
Diffusion-based vision-language-action (VLA) policies can generate plausible actions even when their predictions are weakly grounded in the visual and language evidence defining the task. We introduce GUARD, a test-time failure detection method that measures this grounding without modifying the pretrained policy. GUARD estimates the influence of token-indexed entries in the final vision-language model key-value (KV) cache, constructs counterfactual caches by ablating salient KV entries, and compares their denoising responses with the original conditioning. Based on the comparison, we derive GUARD diagnostic stream including sensitivity, attention entropy, modality bias, and grounding efficiency, which are calibrated online and processed by a lightweight temporal classifier. We evaluate GUARD under task-held-out splits across five policy-benchmark settings, using Pi0, SmolVLA, and Alpamayo-1.5 on LIBERO, SimplerEnv, MetaWorld, and PhysicalAI-AV. GUARD achieves the best ROC-AUC on four of five unseen-task settings and ranks second on the remaining setting, improving the average unseen-task ROC-AUC by 5.73 percentage points over the strongest competing runtime monitor while remaining within 0.19 points of the best seen-task average. These results show that directly probing action-head dependence on multimodal evidence provides a transferable failure signal across policies, tasks, embodiments, and domains.
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URL
https://arxiv.org/abs/2608.04510
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