diff --git a/examples/vla_hidden_states_export/README.md b/examples/vla_hidden_states_export/README.md
new file mode 100644
index 000000000000..83b2737fbefd
--- /dev/null
+++ b/examples/vla_hidden_states_export/README.md
@@ -0,0 +1,81 @@
+# Exporting Full Hidden States from TensorRT-LLM for VLA Models
+
+## Background
+
+VLA (Vision-Language-Action) models such as Orion, OpenVLA, and RT-2 use the
+LLM's hidden states as input to downstream task heads (e.g. planning, trajectory
+prediction) rather than for token generation:
+
+- Standard LLM: input -> LLM -> logits -> token sampling -> text
+- VLA model: images+text -> LLM -> hidden_states -> planning head -> trajectory
+
+The downstream head needs the hidden state at a **specific token position**
+(e.g. a "waypoint" token), which requires the complete hidden_states tensor,
+not just the last token's logits.
+
+See [issue #4414](https://github.com/NVIDIA/TensorRT-LLM/issues/4414) for
+community demand (open since May 2025).
+
+## Why Existing APIs Fall Short
+
+| API | Limitation |
+|-----|-----------|
+| `gather_last_token_logits` | Compresses to last token only |
+| `additional_model_outputs` (v1.1+) | Requires model `forward` to return `hidden_states` in its output dict; the standard `DecoderModelForCausalLM.forward` only returns logits |
+| `SaveHiddenStatesDecodingConfig` | Offline only (EAGLE3 training), saves to disk |
+
+## Solutions
+
+### Solution A: TRT Backend (v0.7-v0.21)
+
+For TRT network-based builds, insert `mark_output` before
+`gather_last_token_logits` in `modeling_utils.py`:
+
+```python
+if self.config.mapping.is_last_pp_rank():
+    # Export full hidden_states before compression
+    hidden_states.mark_output('full_hidden_states', self.config.dtype)
+    hidden_states = gather_last_token_logits(...)
+    lm_logits = self.lm_head(hidden_states)
+```
+
+**Note on tensor shape**: `mark_output` exposes the tensor as-is without
+reshaping. With `remove_input_padding` enabled, the shape may be packed
+`[num_tokens, hidden_dim]` rather than `[batch, seq_len, hidden_dim]`.
+
+Reading at inference:
+
+```python
+full_hs = model.session.debug_buffer["full_hidden_states"]
+# Shape is [batch, seq_len, hidden_dim] or [num_tokens, hidden_dim] (packed)
+ego_feature = full_hs[0, waypoint_idx, :]  # or full_hs[waypoint_idx, :]
+```
+
+### Solution B: PyTorch Backend (v1.x)
+
+In v1.x, `DecoderModelForCausalLM.forward` returns logits only. To expose
+hidden_states via `additional_model_outputs`, modify `forward` to return a dict
+when requested. The key insight: `self.model()` returns the full tensor
+before `LogitsProcessor` compresses it. See `patches/modeling_utils_v1x.patch`
+for the approach, and refer to `handle_additional_outputs.py` for the
+framework's dict-return contract.
+
+**Note**: On the PyTorch backend with `remove_input_padding` (default), the
+shape is packed `[num_tokens, hidden_dim]`.
+
+## Verification
+
+Solution A was tested on Orion VLA (ICCV 2025) with TRT-LLM v0.13.0:
+
+- Engine output: `[1, 599, 4096]`
+- Hidden_states CosSim vs PyTorch: 0.9994 (INT8)
+- End-to-end plan_L2_1s: 0.686 (PyTorch: 0.690)
+
+## Files
+
+| File | Description |
+|------|-------------|
+| `patches/modeling_utils_v0x.patch` | Solution A (v0.7-v0.21, verified) |
+| `patches/modeling_utils_v1x.patch` | Solution B (v1.x, conceptual) |
+| `inference_python.py` | Python inference example |
+| `tests/test_hidden_states.py` | Tests |
diff --git a/examples/vla_hidden_states_export/export_hidden_states.py b/examples/vla_hidden_states_export/export_hidden_states.py
new file mode 100644
index 000000000000..5d442b7c4d79
--- /dev/null
+++ b/examples/vla_hidden_states_export/export_hidden_states.py
@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+"""
+Build a TRT-LLM engine with full_hidden_states output (v0.x TRT backend).
+
+NOTE: This script applies to the legacy TRT backend (v0.7-v0.21) which uses
+`trtllm-build`. On v1.x (main branch), the build command has changed to
+`trtllm serve` / `trtllm bench`. For v1.x, refer to Solution B in the README
+(modify model forward to return hidden_states dict).
+
+Prerequisites for v0.x:
+    1. Apply patches/modeling_utils_v0x.patch to tensorrt_llm/models/modeling_utils.py
+    2. This adds `hidden_states.mark_output('full_hidden_states', ...)` before
+       gather_last_token_logits, preserving the full 3D tensor.
+
+Verify the engine has 'full_hidden_states' as an output after build:
+
+    python -c "
+    import tensorrt as trt
+    runtime = trt.Runtime(trt.Logger())
+    with open('rank0.engine', 'rb') as f:
+        engine = runtime.deserialize_cuda_engine(f.read())
+    outputs = [engine.get_tensor_name(i) for i in range(engine.num_io_tensors)
+               if engine.get_tensor_mode(engine.get_tensor_name(i)) == trt.TensorIOMode.OUTPUT]
+    print('Outputs:', outputs)
+    assert 'full_hidden_states' in outputs, 'mark_output patch not applied!'
+    "
+"""
diff --git a/examples/vla_hidden_states_export/inference_python.py b/examples/vla_hidden_states_export/inference_python.py
new file mode 100644
index 000000000000..f6f4d417abef
--- /dev/null
+++ b/examples/vla_hidden_states_export/inference_python.py
@@ -0,0 +1,140 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+"""
+Minimal example: read full_hidden_states from a TRT-LLM engine at inference time.
+
+This shows the core usage pattern for VLA models:
+1. Run LLM engine inference
+2. Extract the full hidden_states from engine output
+3. Select the hidden state at a specific token position (e.g., waypoint token)
+4. Feed to downstream planning head
+"""
+import argparse
+import numpy as np
+import tensorrt as trt
+import pycuda.driver as cuda
+import pycuda.autoinit
+
+
+class HiddenStatesEngine:
+    """Minimal TRT engine wrapper that reads full_hidden_states output."""
+
+    def __init__(self, engine_path: str) -> None:
+        logger = trt.Logger(trt.Logger.WARNING)
+        with open(engine_path, "rb") as f:
+            engine = trt.Runtime(logger).deserialize_cuda_engine(f.read())
+
+        self.engine = engine
+        self.context = engine.create_execution_context()
+        self.stream = cuda.Stream()
+
+        self.input_names = []
+        self.output_names = []
+        for i in range(engine.num_io_tensors):
+            name = engine.get_tensor_name(i)
+            if engine.get_tensor_mode(name) == trt.TensorIOMode.INPUT:
+                self.input_names.append(name)
+            else:
+                self.output_names.append(name)
+
+        if "full_hidden_states" not in self.output_names:
+            raise ValueError(
+                f"full_hidden_states not in engine outputs: {self.output_names}. "
+                "Apply the mark_output patch first."
+            )
+        print(f"Engine loaded: {len(self.input_names)} inputs, {len(self.output_names)} outputs")
+
+    def infer_and_extract_hidden_states(
+        self,
+        input_ids: np.ndarray,
+        waypoint_idx: int,
+    ) -> tuple[np.ndarray, np.ndarray]:
+        """
+        Run inference and extract hidden_states at the waypoint token position.
+
+        Args:
+            input_ids: Input token IDs (numpy int32 array, shape [batch, seq_len])
+            waypoint_idx: Position in the sequence to extract hidden state from.
+
+        Returns:
+            full_hidden_states: Complete hidden_states tensor.
+            ego_feature: Hidden state at waypoint position [hidden_dim].
+        """
+        buffers = {}
+
+        for name in self.input_names:
+            if name == "input_ids":
+                data = np.ascontiguousarray(input_ids.astype(np.int32))
+                self.context.set_input_shape(name, data.shape)
+            else:
+                shape = tuple(max(1, s) for s in self.engine.get_tensor_shape(name))
+                data = np.zeros(shape, dtype=np.float32)
+
+            d = cuda.mem_alloc(data.nbytes)
+            cuda.memcpy_htod(d, data)
+            self.context.set_tensor_address(name, int(d))
+            buffers[name] = d
+
+        for name in self.output_names:
+            engine_shape = tuple(self.engine.get_tensor_shape(name))
+            shape = tuple(max(1, s) for s in engine_shape)
+            n_elements = int(np.prod(shape))
+            d = cuda.mem_alloc(n_elements * 2)  # fp16
+            self.context.set_tensor_address(name, int(d))
+            buffers[name] = d
+
+        self.context.execute_async_v3(self.stream.handle)
+        self.stream.synchronize()
+
+        hs_shape = tuple(
+            max(1, s) for s in self.engine.get_tensor_shape("full_hidden_states")
+        )
+        full_hs = np.empty(int(np.prod(hs_shape)), dtype=np.float16)
+        cuda.memcpy_dtoh(full_hs, buffers["full_hidden_states"])
+        full_hs = full_hs.reshape(hs_shape)
+
+        if full_hs.ndim == 3:  # [batch, seq_len, hidden_dim]
+            wp_idx = min(waypoint_idx, full_hs.shape[1] - 1)
+            ego_feature = full_hs[0, wp_idx, :].copy()
+        elif full_hs.ndim == 2:  # [num_tokens, hidden_dim] (packed, remove_input_padding)
+            wp_idx = min(waypoint_idx, full_hs.shape[0] - 1)
+            ego_feature = full_hs[wp_idx, :].copy()
+        else:
+            ego_feature = full_hs[-1, :].copy()
+
+        for d in buffers.values():
+            d.free()
+
+        return full_hs, ego_feature
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="Read full_hidden_states from TRT-LLM engine"
+    )
+    parser.add_argument(
+        "--engine_path", required=True, help="Path to rank0.engine"
+    )
+    parser.add_argument(
+        "--seq_len", type=int, default=599,
+        help="Sequence length for dummy input (default: 599)",
+    )
+    parser.add_argument(
+        "--waypoint_idx", type=int, default=598,
+        help="Token position to extract (default: last token)",
+    )
+    args = parser.parse_args()
+
+    engine = HiddenStatesEngine(args.engine_path)
+    input_ids = np.ones((1, args.seq_len), dtype=np.int32)
+    full_hs, ego_feature = engine.infer_and_extract_hidden_states(
+        input_ids, args.waypoint_idx
+    )
+
+    print(f"\nfull_hidden_states shape: {full_hs.shape}")
+    print(f"ego_feature (idx={args.waypoint_idx}): {ego_feature.shape}")
+    print(f"ego_feature[:6]: {ego_feature[:6]}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/examples/vla_hidden_states_export/patches/modeling_utils_v0x.patch b/examples/vla_hidden_states_export/patches/modeling_utils_v0x.patch
new file mode 100644
index 000000000000..1f3420e52469
--- /dev/null
+++ b/examples/vla_hidden_states_export/patches/modeling_utils_v0x.patch
@@ -0,0 +1,26 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Hou Song <hous.ailab@gmail.com>
+Date: Thu, 7 Aug 2026 22:00:00 +0800
+Subject: [PATCH] Export full 3D hidden_states via mark_output
+
+Insert mark_output('full_hidden_states') before gather_last_token_logits
+in DecoderModelForCausalLM.forward(), so the complete tensor is exported.
+
+Related issue: https://github.com/NVIDIA/TensorRT-LLM/issues/4414
+
+NOTE: Line numbers below are from v0.13.0. For other v0.x versions, search
+for "gather_last_token_logits" in DecoderModelForCausalLM.forward() and
+insert the mark_output line above it. The surrounding code is identical
+across v0.7.0 through v0.21.0.
+
+diff --git a/tensorrt_llm/models/modeling_utils.py b/tensorrt_llm/models/modeling_utils.py
+--- a/tensorrt_llm/models/modeling_utils.py
++++ b/tensorrt_llm/models/modeling_utils.py
+@@ -776,6 +776,10 @@
+         if self.config.mapping.is_last_pp_rank():
++            # [VLA] Export full hidden_states before gather_last_token_logits compresses it.
++            # See: https://github.com/NVIDIA/TensorRT-LLM/issues/4414
++            hidden_states.mark_output('full_hidden_states', self.config.dtype)
++
+             hidden_states = gather_last_token_logits(
+                 hidden_states, last_token_ids,
diff --git a/examples/vla_hidden_states_export/patches/modeling_utils_v1x.patch b/examples/vla_hidden_states_export/patches/modeling_utils_v1x.patch
new file mode 100644
index 000000000000..17fc3202659a
--- /dev/null
+++ b/examples/vla_hidden_states_export/patches/modeling_utils_v1x.patch
@@ -0,0 +1,23 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Hou Song <hous.ailab@gmail.com>
+Date: Thu, 7 Aug 2026 22:00:00 +0800
+Subject: [PATCH] Return hidden_states as additional output (v1.x, conceptual)
+
+In v1.x, DecoderModelForCausalLM.forward() calls self.model() which returns
+the full hidden_states tensor, then passes it to LogitsProcessor which takes
+only the last token.
+
+The framework's additional_model_outputs contract (handle_additional_outputs.py)
+expects the model forward to return a dict containing the requested keys.
+The model_engine.py invocation passes additional_model_outputs to the forward
+call. To expose hidden_states, modify forward to include it in the returned
+dict before LogitsProcessor compresses it.
+
+NOTE: On the PyTorch backend with remove_input_padding (default), the shape
+is packed [num_tokens, hidden_dim], not [batch, seq_len, hidden_dim].
+
+This is a conceptual patch based on source code analysis of v1.x main branch.
+Not yet runtime tested. The exact integration depends on how model_engine.py
+plumbs the additional_model_outputs parameter into the model forward call.
+
+Related issue: https://github.com/NVIDIA/TensorRT-LLM/issues/4414
diff --git a/examples/vla_hidden_states_export/tests/test_hidden_states.py b/examples/vla_hidden_states_export/tests/test_hidden_states.py
new file mode 100644
index 000000000000..5cd1d71a2ab9
--- /dev/null
+++ b/examples/vla_hidden_states_export/tests/test_hidden_states.py
@@ -0,0 +1,85 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+"""
+Verify full_hidden_states output from a TRT-LLM engine.
+
+Usage:
+    python tests/test_hidden_states.py --engine_path /path/to/rank0.engine
+"""
+import argparse
+import numpy as np
+
+
+def test_engine_has_full_hidden_states(engine_path: str) -> None:
+    """Verify the engine exports full_hidden_states tensor."""
+    import tensorrt as trt
+
+    logger = trt.Logger(trt.Logger.WARNING)
+    with open(engine_path, "rb") as f:
+        engine = trt.Runtime(logger).deserialize_cuda_engine(f.read())
+
+    output_names = [
+        engine.get_tensor_name(i)
+        for i in range(engine.num_io_tensors)
+        if engine.get_tensor_mode(engine.get_tensor_name(i))
+        == trt.TensorIOMode.OUTPUT
+    ]
+
+    if "full_hidden_states" not in output_names:
+        raise AssertionError(
+            f"full_hidden_states not in outputs: {output_names}. "
+            "Apply the mark_output patch first."
+        )
+    print(f"PASS: full_hidden_states found in {output_names}")
+
+
+def test_hidden_states_is_3d(engine_path: str) -> None:
+    """Verify full_hidden_states has rank >= 2 (3D or packed 2D)."""
+    import tensorrt as trt
+
+    logger = trt.Logger(trt.Logger.WARNING)
+    with open(engine_path, "rb") as f:
+        engine = trt.Runtime(logger).deserialize_cuda_engine(f.read())
+
+    shape = tuple(engine.get_tensor_shape("full_hidden_states"))
+    if len(shape) < 2:
+        raise AssertionError(
+            f"full_hidden_states should be at least 2D, got shape {shape}."
+        )
+    print(f"PASS: full_hidden_states shape {shape} (rank {len(shape)})")
+
+
+def test_token_extraction() -> None:
+    """Verify token extraction from a simulated full hidden_states tensor."""
+    seq_len = 599
+    hidden_dim = 4096
+    full_hs = np.random.randn(1, seq_len, hidden_dim).astype(np.float16)
+
+    wp_idx = 42
+    ego_feature = full_hs[0, wp_idx, :].copy()
+
+    assert ego_feature.shape == (hidden_dim,)
+    assert np.array_equal(ego_feature, full_hs[0, wp_idx, :])
+    assert not np.array_equal(ego_feature, full_hs[0, wp_idx + 1, :])
+    print(f"PASS: token extraction at idx={wp_idx}")
+
+
+def main() -> None:
+    import sys
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--engine_path", required=True)
+    args = parser.parse_args()
+
+    test_engine_has_full_hidden_states(args.engine_path)
+    test_hidden_states_is_3d(args.engine_path)
+    test_token_extraction()
+    print("\nAll tests passed!")
+
+
+if __name__ == "__main__":
+    import sys
+    if "--engine_path" in sys.argv:
+        main()
+    else:
+        test_token_extraction()
+        print("\nRun with --engine_path to test engine output")