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Preprint Aug 2026

Retrieve in Time, Correct in Frequency

Frozen vision-language-action (VLA) policies generate temporally extended action chunks, but long-horizon manipulation remains vulnerable to accumulated execution error and visual aliasing across task stages. Successful rollouts provide useful corrective evidence, yet current frame retrieval can return progress-misalig...

Yuze Fan, Yue Cao, Peng-Jie Gao et al. · 0 citations

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