arXiv — cs.AI preprintsInternational12 October 2026
RESCUE: Is This Alarm Worth Acting On? Counterfactual Evaluation of VLA Runtime Monitors
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arXiv:2610.13516v1 Announce Type: cross Abstract: Runtime failure monitors for robot policies are typically evaluated by how accurately they distinguish failed from successful executions. Yet an accurate alarm may arrive too late for recovery, while an unnecessary intervention may disrupt an execution that would otherwise succeed. We introduce RESCUE, a counterfactual framework for evaluating whether a monitor's alarms enable useful interventions. By restoring simulator and policy states at execution checkpoints, RESCUE compares alternative actions, identifies the latest checkpoint satisfying
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