Reuse Before You Retrieve: Diagnosing Headroom and Complementarity for Test-Time Augmentation of Embodied Multimodal Policies

arXiv:2608.17484v1 Announce Type: new Abstract: Frozen vision-language-action (VLA) policies are increasingly improved at test time by sampling additional policy behaviors or introducing external demonstrations. Yet there is little guidance for deciding which intervention a deployed policy actually needs. Additional sampling is useful only when better behavior already exists within the policy's stochastic rollouts and can be identified, whereas retrieval is most useful when the relevant action p...