成功だけでは不十分？卓上マニピュレーションにおけるVLAの挙動に対する入力摂動の影響調査
Is Success All You Need? Investigating the Impact of Input Perturbations on VLA Behaviour in Tabletop Manipulation Tasks
VLAモデルのロバスト性をタスク成功率だけでなく、成功軌道の動きの滑らかさや効率、グリッパ挙動といった振る舞いの観点から評価するフレームワークを提案し、LIBERO系ベンチマークで摂動が成功時の挙動を変化させることを示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Sophie Higham, Riccardo Andrea Izzo, Matteo Matteucci, Alessandro Suglia
分類: cs.RO
原文アブストラクト
Vision-Language-Action (VLA) models have achieved high task success rates on robot manipulation task benchmarks. More recently, there has been an emphasis on evaluating the robustness of VLA models to perturbations. However, this robustness is still predominantly measured through Task Success Rate (TSR). In this work, we propose a benchmark-agnostic evaluation framework to measure the behavioural robustness of models by characterising how successful trajectories are executed under perturbation. We implement this methodology by extending the widely-used LIBERO and LIBERO-Plus benchmarks. Across three state-of-the-art VLA models, four LIBERO task suites and seven perturbation conditions, we evaluate changes in both typical successful behaviour and its variability, including metrics of motion smoothness, efficiency and gripper behaviour. We find that perturbations can alter the behaviour of successful trajectories, a phenomenon which cannot necessarily be inferred from TSR alone. Across LIBERO suites, we identify cases where state-of-the-art VLA models achieve comparable TSR under the same perturbation condition, yet behaviour on successful trajectories diverges substantially. Therefore, to have a more robust assessment of task performance, we argue that suitable measures of robustness should capture not only whether a task is completed, but also how the robot behaves while completing it. When evaluating the robustness of VLA models, TSR may be complemented by behavioural evaluation metrics that characterise the nature and variability of successful task execution by robots.
