Contrastive Conceptor Activation Steering (COAST): Unlocking Vision-Language-Action Models through Hidden States

TL;DR

COAST is a method that improves vision-language-action models by steering their latent states into success-critical subspaces identified through conceptors, significantly enhancing robotic task performance.

Contribution

The paper introduces COAST, a novel, training-free technique using conceptors to steer VLA model latents into success subspaces, boosting task success rates.

Findings

COAST improves simulation success rate by over 20%.

COAST enhances real-robot task success by over 40%.

Shared failure modes across tasks can be mitigated using previously fitted conceptors.

Abstract

Vision-Language-Action (VLA) models leverage powerful perceptual priors from web-scale Vision-Language Model (VLM) pre-training, yet they remain surprisingly brittle in practice, frequently failing at simple robotic tasks. To mitigate this, we propose Contrastive Conceptor Activation Steering (COAST). COAST builds on the notion of a "conceptor", a linear operator that soft-projects data into the principal components of a target distribution. COAST uses conceptors to identify success-critical subspaces for a target robotic task from a few examples of success and failure rollouts. At inference time, it steers VLA latents into these identified success subspaces to improve task outcomes. Across three architecturally distinct neural policies (flow-matching VLA, autoregressive VLA, and Diffusion Policy), COAST improves absolute mean simulation and real-robot task success rate by over 20 and 40% respectively. The activation subspace geometry reveals that failure modes share substantial structure across tasks while success representations remain largely task-specific. When tasks share similar failure modes, this structure enables previously fitted conceptors to improve performance on new tasks without refitting. Ultimately, our results suggest that current VLAs retain substantial task-relevant knowledge in their latent representations, and that the action expert's decoding bottleneck could be mitigated by steering its residual stream toward task-relevant subspaces. COAST provides a lightweight, training-free path to unlocking these latent capabilities by steering the model towards its own "success" distributions.