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arXiv · 2610.24573

Retrieval-triggered Action Projection Adjustment for Frozen VLA Policies: An Empirical Study and Failure Analysis

Jinming Wang·Ruiheng Zhang·Yong Wang·Zipan Xiong·Keyuan Luo
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Abstract

Frozen Vision-Language-Action (VLA) policies cannot incorporate previously encountered failures without updating the underlying model. We present retrieval-triggered projection correction (RTPC), an auditable external-memory wrapper for frozen OpenVLA policies that retrieves stress-collected local-depth records and applies translation-only projection correction while keeping rotation and gripper commands unchanged. RTPC is evaluated on CALVIN single-task manipulation using primary and independent replication cohorts. In the primary evaluation, RTPC reduced a depth-based near-collision or stall proxy event rate without changing task-success count. However, this reduction was not reproduced in the independent replication, and retrieved correction directions were not distinguishable from random same-family directions. Analysis identifies endpoint coupling, batch sensitivity, and the lack of a trigger-matched memory-free baseline as limitations for attributing effects to retrieval-based correction. These findings do not establish physical safety improvement or memory-specific benefits, but provide an empirical evaluation and failure analysis of retrieval-conditioned intervention for frozen VLA policies.

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Jinming Wang, Ruiheng Zhang, Yong Wang, Zipan Xiong, Keyuan Luo. 2026-10-17. Retrieval-triggered Action Projection Adjustment for Frozen VLA Policies: An Empirical Study and Failure Analysis. https://arxiv.org/abs/2610.24573

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