Qinfan Zhang
Author directory2026
VLA-Trace: Diagnosing Vision-Language-Action Models through Representation and Behavior Tracing
Haoyuan Shi | Xiancong Ren | Yingji Zhang | Qinfan Zhang | Jiayu Hu | Haozhe Shan | Han Dong | Jinpeng Lu | Yinda Chen | Yi Zhang | Yong Dai | Xiaozhu Ju
Proceedings of the 2026 Conference on Empirical Methods in Natural Language Processing
Haoyuan Shi | Xiancong Ren | Yingji Zhang | Qinfan Zhang | Jiayu Hu | Haozhe Shan | Han Dong | Jinpeng Lu | Yinda Chen | Yi Zhang | Yong Dai | Xiaozhu Ju
Proceedings of the 2026 Conference on Empirical Methods in Natural Language Processing
Understanding how Vision-Language-Action (VLA) models transform multimodal knowledge into embodied control remains an open challenge. We present VLA-Trace, a progressive diagnostic framework that analyzes VLA models through a unified evidence chain from representation dynamics to causal control attribution and behavioral manifestation. It specifically combines cross-modal and checkpoint-drift centered kernel alignment (CKA) to trace representation evolution, attention knockout interventions to identify modality-specific control pathways, and rollout-level behavioral probes to examine grounding, shortcut dependence, and semantic following. Experiments on 𝜋0.5 and OpenVLA reveal three key findings. First, the two models exhibit distinct modality-specific adaptation dynamics during VLA finetuning. Second, they rely on different multimodal routing strategies and layer-wise dependencies during action decoding. Third, although VLA policies excel at visually grounded trajectory generation, they remain limited in fine-grained semantic following. These findings highlight future directions for representation-preserving adaptation, causal VLA circuits, and compositional semantic control.