Probing a Vision-Language-Action Model for Symbolic States and Integration into a Cognitive Architecture

Vision-language-action (VLA) models hold promise as generalist robotics solutions by translating visual and linguistic inputs into robot actions, yet they lack reliability due to their black-box nature and sensitivity to environmental changes. In contrast, cognitive architectures (CA) excel in symbolic reasoning and state monitoring but are constrained by rigid predefined execution. This work bridges these approaches by probing OpenVLA's hidden layers to uncover symbolic representations of object properties, relations, and action states, enabling integration with a CA for enhanced interpretability and robustness. Through experiments on LIBERO-spatial pick-and-place tasks, we analyze the encoding of symbolic states across different layers of OpenVLA's Llama backbone. Our probing results show consistently high accuracies (> 0.90) for both object and action states across most layers, though contrary to our hypotheses, we did not observe the expected pattern of object states being encoded earlier than action states. We demonstrate an integrated DIARC-OpenVLA system that leverages these symbolic representations for real-time state monitoring, laying the foundation for more interpretable and reliable robotic manipulation.

Noise Injection Reveals Hidden Capabilities of Sandbagging Language Models

Capability evaluations play a critical role in ensuring the safe deployment of frontier AI systems, but this role may be undermined by intentional underperformance or ``sandbagging.'' We present a novel model-agnostic method for detecting sandbagging behavior using noise injection. Our approach is founded on the observation that introducing Gaussian noise into the weights of models either prompted or fine-tuned to sandbag can considerably improve their performance. We test this technique across a range of model sizes and multiple-choice question benchmarks (MMLU, AI2, WMDP). Our results demonstrate that noise injected sandbagging models show performance improvements compared to standard models. Leveraging this effect, we develop a classifier that consistently identifies sandbagging behavior. Our unsupervised technique can be immediately implemented by frontier labs or regulatory bodies with access to weights to improve the trustworthiness of capability evaluations.