cs.ROSep 14, 2026

IMPACT-VLA: Interaction-aware Multimodal Propagation Attribution via Counterfactual Trajectories for Vision-Language-Action Policies

Authors: Jinwoong Kim, Sangjin Park

Abstract

Vision-Language-Action (VLA) policies perform robot manipulation tasks using multimodal inputs such as visual observations, proprioceptive states, and language instructions. However, it remains unclear at which execution stages each modality contributes to final task success and how input interventions propagate through subsequent states, observations, and actions. Existing attribution approaches primarily measure local sensitivity or temporally aggregated importance, limiting their ability to capture phase-dependent contributions and cross-phase dependencies. We propose Interaction-aware Multimodal Propagation Attribution via Counterfactual Trajectories for Vision-Language-Action Policies (IMPACT-VLA). IMPACT-VLA constructs behavioral phases from action transitions in a successful reference rollout, aligns them with policy query boundaries, and defines phase-modality blocks as attribution units. It then performs closed-loop counterfactual re-execution to quantify each block's contribution to final task success. We further analyze cross-phase non-additive interactions and trajectory propagation while distinguishing behavioral from functional recovery. Across 30 LIBERO robot manipulation tasks using OpenVLA-OFT, dominant-modality transitions occurred in 25 tasks (83.3%), and closed-loop attribution identified task-critical information more faithfully than Static Action Perturbation. Later-block marginal gains for negatively interacting pairs increased by approximately 3.3x under early-phase input replacement, while functional recovery could occur without behavioral recovery. These results reveal when multimodal inputs support task success and how their contributions become conditionally coupled during closed-loop execution.

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