Arjun Bajpai

Response Geometry in Integrated Gradients: A Diffusion-Policy Case Study

Attribution evaluation depends on the ranking that selects interventions and the response used to score them. We study this distinction for Integrated Gradients (IG) of a fixed-noise diffusion policy's predicted action chunk. For quadratic and stabilized negative-ℓ₂ action-discre...

The Readout, Not the Denoiser: Per-Step Integrated Gradients for Diffusion-Policy Vision-Language-Action Models

Diffusion-based vision-language-action (VLA) policies perform well on robotic manipulation tasks, but their per-decision reasoning remains opaque. To our knowledge, we present the first per-step, per-modality application of Integrated Gradients (IG) to a diffusion-policy VLA. The...