Vision-Language-Action (VLA) models are often brittle in fine-grained manipulation, where minor action errors during the critical phases can rapidly escalate into irrecoverable failures. Since existing VLA models rely predominantly on successful demonstrations for training, they lack an explicit awareness of failure during these critical phases. To address this, we propose DreamAvoid, a critical-phase test-time dreaming framework that enables VLA models to anticipate and avoid failures. We also introduce an autonomous boundary learning paradigm to refine the system's understanding of the subtle boundary between success and failure. Specifically, we (1) utilize a Dream Trigger to determine whether the execution has entered a critical phase, (2) sample multiple candidate action chunks from the VLA via an Action Proposer, and (3) employ a Dream Evaluator, jointly trained on mixed data (success, failure, and boundary cases), to "dream" the short-horizon futures corresponding to the candidate actions, evaluate their values, and select the optimal action. We conduct extensive evaluations on real-world manipulation tasks and simulation benchmarks. The results demonstrate that DreamAvoid can effectively avoid failures, thereby improving the overall task success rate. Our code is available at https://github.com/XianzheFan/DreamAvoid.
@article{arxiv.2605.11750,
title = {DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies},
author = {Xianzhe Fan and Yuxiang Lu and Shenyuan Gao and Xiaoyang Wu and Ruihua Han and Manling Li and Hengshuang Zhao},
journal= {arXiv preprint arXiv:2605.11750},
year = {2026}
}