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TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

A vision-language-action (VLA) policy with a flow-matching action expert generates each action chunk (a short command sequence) by integrating a learned velocity field; once its weights are fixed, the success or failure of an earlier rollout cannot change the chunk generated now. Concurrent test-time methods give a frozen policy such an input from retrieved successes, a learned critic, a verifier, or a dynamics model, but none uses the robot's own failed rollouts as negative evidence with nothing but a terminal outcome bit. We introduce TraceFlow, a progress-aligned guidance field that turns t

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