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We present Experience-RAG Skill, an agent-oriented pluggable retrieval orchestration layer positioned between the agent and the retriever pool. The proposed skill analyzes the current scene, consults an experience memory, selects an appropriate retrieval strategy, and returns structured evidence to the agent. Under a fixed candidate pool, Experience-RAG Skill achieves an overall nDCG@10 of 0.8924 on BeIR/nq, BeIR/hotpotqa, and BeIR/scifact, outperforming fixed single-retriever baselines and remaining competitive with Adaptive-RAG-style routing. 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