How Much of Your VLA Is kNN

arXiv:2611.13160v1 Announce Type: cross Abstract: Vision-language-action (VLA) models now exceed 95% success on the LIBERO simulation benchmark, yet it remains unclear how much of this performance requires generalization beyond the training demonstrations. In this work, we show that retrieving nearby demonstrations and reusing their action chunks achieves a success rate of 91.7 % on LIBERO without policy training. Under LIBERO-Plus perturbations, retrieval shows the smallest drop of all evaluated policies. Across nine publicly available VLAs, fine-tuning mostly makes the vision-language backbo

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