Blackout vs. Freeze: Analyzing Physical Failure Modes of VLAs under Camera Faults

arXiv:2609.39145 · cs.RO, cs.AI · Submitted 2026-09-30 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/NVIDIA/Isaac-GR00T

Project page: https://frankarobotics.github.io/docs

Terminology

• Trace — 10× in this paper · explained in 2 episodes
• Calibration — 6× in this paper · explained in 7 episodes
• Consistency — 6× in this paper · explained in 3 episodes
• Failure Modes — 6× in this paper · explained in 3 episodes
• Robustness — 6× in this paper · explained in 5 episodes
• Benchmark — 5× in this paper · explained in 2 episodes
• Embeddings — 4× in this paper · explained in 2 episodes
• Generative AI — 3× in this paper · explained in 2 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Archetype — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Limits for Franka Emika Robot — 1× in this paper
• OSHA Technical Manual — 1× in this paper

Sources

• ForesightSafety-VLA: A Unified Diagnostic Safety Benchmark for Vision-Language-Action Models
• SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model
• VLA-Trace: Diagnosing Vision-Language-Action Models through Representation and Behavior Tracing
• ActFovea: Runtime Safeguarding for VLA Policies via Spatiotemporal Visual-Action Consistency
• Restoring Linguistic Grounding in VLA Models via Train-Free Attention Recalibration
• Do You Need Proprioceptive States in Visuomotor Policies?
• LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization

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