# TRACE: Target-State Risk-Gated Execution for Embodied Visual Tracking

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/ep8fv91eybaubliz9keqasc0q
- Original: https://arxiv.org/abs/2610.41275

## Summary

The research team proposes TRACE, an execution-time target-state risk gate that intervenes selectively while keeping the learned policy unchanged. They first used PPO to update only the planning head of a 0.6B VLA tracker; success and following rates improved across all three EVT-Bench settings, but the collision rate rose in distracted tracking scenarios.