# Retrieve to Act: Improving VLA Execution Robustness with Motion Primitive Graph Retrieval

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/s531akrckd85apgqj0u6xhrw5
- Original: https://arxiv.org/abs/2610.37215

## Summary

The authors propose Retrieve to Act (R2A), a test-time scaling framework that organizes successful demonstrations into an offline spatiotemporal motion primitive graph. At inference, a query-dependent graph neural network locates the current execution state and retrieves structurally compatible future motion primitives, which are then fused with the frozen VLA's predicted actions through dimension-wise gating.