Author

Yuze Fan

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Preprint Aug 2026

Retrieve in Time, Correct in Frequency

Retrieve in Time, Correct in Frequency (RTCF), a training-free test-time correction framework that improves frozen VLA performance with low model-side overhead and requires no parameter updates, repeated VLA inference, or additional GPU resources.

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