Test-Time Improvement of VLA Policies via Selected Diffusion Noise for Spurious-Robust Action Smoothing

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   arXiv Robotics — research abstractsSignal

   Test-Time Improvement of VLA Policies via Selected Diffusion Noise for Spurious-Robust Action Smoothing

   This paper introduces Selected Diffusion Noise (SDN), a training-free method that enhances the reliability of Vision-Language-Action (VLA) policies at test time. By treating diffusion noise as a controllable degree of freedom, SDN samples multiple candidate action chunks and applies a two-stage selection process: first filtering candidates based on task-relevant visual grounding using a counterfactual negative set, then selecting the kinematically most stable chunk based on JerkRMS. Experiments across three VLA policies in both simulation and real-world environments demonstrate improvements of 8-10% and 18.33%, respectively, highlighting SDN's effectiveness for test-time improvement.

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