Action Hallucination in Generative Vision-Language-Action Models

arXiv:2602.06339v2 Announce Type: replace-cross Abstract: Robot Foundation Models, such as VLAs, promise end-to-end generative robot policies with broad generalization. Yet it remains unclear whether they fundamentally resolve the core problem of action generation in embodied settings, or overcome the long-standing challenges of robotics. We address this question by analyzing action hallucinations that violate physical constraints and their extension to plan-level failures. Focusing on latent-va