Proxy Policy Steering adapts frozen VLA models to new tasks at inference time
weichiuma · x · 2026-09-14
Researchers propose Proxy Policy Steering (PPS), which specializes VLA (vision-language-action) models to new tasks at inference time without touching base model weights.
- Instead of direct fine-tuning, it trains two lightweight proxy policies
- Their velocity-space residual steers the frozen base model's behavior for the new task
The upshot: large VLA bases stay frozen while cheap external modules handle task adaptation, cutting customization cost.
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