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About this paper
Amit Jadhav, Shaurya Beriwala, David Q. Liu, Yanfei Liu
SFF adapts a robot failure monitor after each episode, updating its final readout from the outcome while keeping feature processing fixed and adjusting the alarm threshold only after successes. On SmolVLA in LIBERO-10, SFF reached within-task AUROC 0.736 versus 0.707 for a frozen monitor. Across five test suites, it outperformed the frozen monitor on four; real-robot evidence came from replays, not live deployment.
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