Title:BOKBO (Best of K Bad Options): Calibrated Abstention for VLA Policies

Abstract:Test-time scaling for vision-language-action (VLA) policies, methods such as RoboMonkey, SEAL, MG-Select, and V-GPS, samples K candidate action chunks at inference and executes the verifier-best. When all K candidates are unsafe, the system executes a violating action with no warning. We propose BOKBO, the first conformal abstention layer for K-sample VLA inference, providing finite-sample distribution-free guarantees on executed-violation rate. We provide both global and per-task (Mondrian) variants, with the per-task variant closing the conditional gap on the hardest tasks.
Our analysis exposes a structural failure of policy-internal nonconformity scores under perturbation-based K-sampling: the base-policy confidence proxy and K-sample disagreement correlate at 0.98 with the action-noise hyperparameter $\sigma$, while correlating at the noise floor with actual safety violations. We test the failure's scope by replicating the analysis under token-level temperature sampling and find the failure is mechanism-specific and partially mitigated under policy-stochasticity-based sampling. A learned violation predictor conditioned on semantic visual features and task identity supports tight calibration: at $\epsilon$ = 0.05 on libero_object_temp_x0.1 with OpenVLA-OFT, the conditional CRC bound holds on 86% of bootstrap splits with 78% coverage and 70% net task success. Mondrian-BOKBO raises the minimum per-task conditional hold fraction from 0.71 to 0.93. Results are stable across 5 training seeds, replicate within bootstrap noise on $\pi_0$-FAST, hold on libero_spatial_temp_x0.1 as a co-equal benchmark, and survive four within-suite distribution shifts. We additionally identify and correct a methodological pitfall: globally-set force thresholds well below expert-typical manipulation forces conflate unsafe behavior with normal manipulation, inflating violation rates by $5\times$.

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