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Detecting such failures during execution is therefore critical for the robust deployment of embodied systems. Existing failure detection methods either rely on expensive action resampling or external models, while alternatives propagate trajectory-level labels uniformly across every timestep, obscuring localized failure signals. In this paper, we propose \\textbf{Hide-and-Seek}, a framework that formulates VLA failure detection as a coarsely supervised learning problem. By combining inter-trajectory and intra-trajectory contrastive objectives, Hide-and-Seek localizes failure-indicative actions and induces temporally structured failure signals from trajectory-level supervision alone, without any step-level annot","title":"Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring","url":"https://arxiv.org/abs/2605.30834","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.30834v1 Announce Type: cross \nAbstract: Vision-Language-Action (VLA) models enable robots to follow natural language instructions and generalize across diverse tasks, but they remain vulnerable to execution failures that compromise reliability in real-world deployment. Detecting such failures during execution is therefore critical for the robust deployment of embodied systems. Existing failure detection methods either rely on expensive action resampling or external models, while alternatives propagate trajectory-level labels uniformly across every timestep, obscuring localized failure signals. In this paper, we propose \\textbf{Hide-and-Seek}, a framework that formulates VLA failure detection as a coarsely supervised learning problem. By combining inter-trajectory and intra-trajectory contrastive objectives, Hide-and-Seek localizes failure-indicative actions and induces temporally structured failure signals from trajectory-level supervision alone, without any step-level annot","title":"Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-01T04:43:13Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.30834"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:cd2de3eaa6ca85371ba91a590678dcbfb26135403bed6f204a2b8351f3b727456bb35578c8e07137c3922f14b045c24994499eec65849081c4004513626cae0c","signer":"crovia.substrate","subject":{"observed_at":"2026-06-01T04:43:13Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.30834"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"a65345ff7dbee6e8eea964968061f2f72521e53cfe3283cb72cd2d0c2cb6c9d8","leaf_index":163882,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"85df3a2fa76e1106eb78d5948185203584e9cd2ede383345be535aa28a0ea2c6","side":"right"},{"sibling":"f1c50360cd3fa118c4dfe7c7acd5f3efe48da5ae93bfaa17b27cf4925b031d1c","side":"left"},{"sibling":"de48cec97624ccc443cca01890e3ad31a3704c0fea460b6b54c806303ad159e6","side":"right"},{"sibling":"3e1de1f5d6e476777fa36b73f5fd80ae6d8803977532d2e3ad0026dd96f98a58","side":"left"},{"sibling":"f8daf448c4907f5b17ea6b1743052d1edfe88c9590f5bf082d7548b0f6130ef5","side":"right"},{"sibling":"6d2f0e650ee7cbadfa1d8b537c7ba55f2431da2ab6c87c375b51a57393551957","side":"left"},{"sibling":"8759b29a2f5a0cbc7e311e83a6c64093a22568f86085e1c65bead39ebc241c88","side":"right"},{"sibling":"c80f3e378be31136ba3005ae1d4e6fb73ee42b46d44ded3d5ec7b012545b00f5","side":"right"},{"sibling":"86fede29e507d01bfe35484a1579149e8e99b3527ff48559423f6056d11af46a","side":"right"},{"sibling":"fc601f0745c37fc5f7c249300e654db05d61bb9059885eeb0b0a5047b5d28408","side":"right"},{"sibling":"6ed9290cdae063f13bfeb71c4c5440595cabb61fd4b39225b9cc913ffb336dd7","side":"right"},{"sibling":"a0446b923d1ce90021e78edff07f6bfc7cc2a1326a565c5f0786b82a24dd0a2a","side":"right"},{"sibling":"e598fd53912c30e58ca8e58d7d8a338fe0f2ecb63fdd99225bc703c499c948ec","side":"right"},{"sibling":"fc4873333221ec8167697f75b6f6a8a08491a8cf18952defb65fb6d4958fa5e7","side":"right"},{"sibling":"05c8a827da2a05549ee3250310777009120c687885816bf6c7c74801bfaa346d","side":"right"},{"sibling":"5ea2f2dc9f046df723b6bd9932d61a9a3d80a76e79ce1b939b3d93ff79b5a91c","side":"left"},{"sibling":"ce41d9b82f34b16efd653dfb3552acc4e2512939e47903e5fc979fbed00c5764","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":164217,"merkle_root":"a1098816aea1b60b8fe37b62410469bc5024a2c335bbec4f6ef2add7875dbdf2","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260601T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-01T05:37:41Z","sig_algorithm":"ed25519","signature":"d7f91db1d54b9495c499440c2828f4bd53360555391ce6e25adea5183bc1fa0f697d80708a099d0b0429e6f8cb6c71e7fccf82acb3c84481149974fb26074708","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_0a1a77105cc98d596406d8d09a31c2c55c758b65ac8f69e203a1543089947592"}}