arXiv:2607.17786cs.ROcs.AI2026-07

推理让视觉语言动作模型更脆弱,反而降低抗干扰能力。

Reasoning as a Double-Edged Sword: Architecture and Cross-Stage Robustness in Vision-Language-Action Models

论文配图:Reasoning as a Double-Edged Sword: Architecture and Cross-Stage Robustness in Vision-Language-Action Models
图 1 · 摘自论文原文
  • 对比三种推理架构,发现隐式迭代模型最易受扰动影响
  • 在随机噪声和白盒攻击下,其任务成功率暴跌至接近随机水平
  • 现有推理监控机制在对抗测试中失效,难以作为安全信号

添加推理步骤是否提升视觉-语言-动作(VLA)模型对扰动的鲁棒性?我们通过三个跨越推理谱系的模型(无推理、文本思维链、隐式迭代循环),在LIBERO和SimplerEnv上分别在视觉、推理和动作阶段施加扰动进行测试。研究聚焦两个问题:推理设计是否改变鲁棒性?推理输出能否实时用作安全信号?结果表明,隐式迭代模型最为脆弱,在随机噪声和白盒攻击下任务成功率急剧下降,而其他两种模型保持稳定。这种脆弱性源于结构而非累积误差,推理深度变化对性能影响极小。尽管推理输出理论上可被监控,但在公平测试中均失效;一个看似有效的计划-动作一致性探针,在自适应攻击下表现退化至随机水平。即使在匹配假阳性率校准后,将其与动作异常探测融合,也未能提升防御后的成功率。该上限意味着任何可行防御必须首先突破此基准。

原文摘要 · Abstract (English)

Does adding a reasoning step make a Vision-Language-Action (VLA) model more robust to perturbation? Intuitively, a policy that reasons before acting should absorb a perturbed input better than one that maps observations directly to actions. We test this premise head-on across three models that span the reasoning spectrum (no reasoning, a text chain-of-thought, and a latent iterative loop), perturbing each at the vision, reasoning, and action stages on LIBERO and SimplerEnv. Two questions organize the study: does the reasoning design shift robustness, and can the reasoning be read back at runtime as a safety signal? We find that the latent-iterative model is by far the least robust: under both stochastic noise and white-box perturbation its task success collapses, while the other two hold. This fragility is structural rather than cumulative: varying the reasoning depth at inference barely moves it. Reasoning outputs can in principle be monitored, but the monitors fail under fair tests. A plan--action consistency probe that looks near-perfect under naive evaluation falls to chance under adaptive attack. Under matched-FPR calibration, fusing it with an action-anomaly probe never lifts defended success above undefended. Scoped to these output-level behavioral probes under white-box vision-stage attack, this ceiling is a precondition that any viable defense must first satisfy.

VLA推理脆弱性鲁棒性安全检测

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