arXiv:2605.13119v2 Announce Type: replace-cross Abstract: Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burde...
arXiv:2609.36471v1 Announce Type: cross Abstract: World-Action Models (WAMs) improve robotic manipulation by conditioning action generation on predicted future observations, but future prediction add...
arXiv:2610.01939v1 Announce Type: new Abstract: Vision language model (VLM) agents can control robots through visual feedback and action primitives, but repeated model invocations and redundant obser...
arXiv:2609.08638v1 Announce Type: cross Abstract: An action chunk can span several stages of a manipulation task, yet a label for its first step describes only the current stage. We introduce Chunk-A...
arXiv:2601. 20334v2 Announce Type: replace-cross Abstract: Robotic manipulation has increasingly adopted vision-language-action (VLA) models, which achieve strong performance but typically require task-specific demonstrations and fine-tuning, and often generalize poorly under domain shift.
The paper introduces 2AM, a system that keeps task memory solely within a multimodal Agent while using a single RGB‑based, stateless Action Model to execute motions. By compiling interaction history into subtask language and optional 2D grasp/place/move hints, the Agent steers the Action Model, which is trained to tolerate imperfect guidance through dropout, noise, and jitter. On the LIBERO‑Mem benchmark, 2AM achieves 76.3% average completion without depth, geometry, or planners, vastly outperforming the best baseline.
The paper introduces 2AM, a system that separates memory and action execution in long‑horizon robot manipulation. 2AM stores task memory exclusively in a multimodal Agent, while a single RGB‑based, stateless Action Model performs motion based on language and optional 2D hints. On the LIBERO‑Mem benchmark, 2AM achieves 76.3% average completion—over 61 points higher than the best baseline—demonstrating that agent‑side memory and precise steering of the Action Model can substantially improve performance.
The paper introduces Divide-and-Remember (D&R), a recursive memory method for vision-language-action (VLA) policies that optimises memory by maximizing the conditional mutual information between actions and memory given observations. D&R recursively divides the full history into top‑K selections over 2K tokens, using a shared lightweight selector across all recursion blocks to handle unbounded histories efficiently. Evaluated on the RoboMME benchmark of 16 long‑horizon manipulation tasks, D&R achieves state‑of‑the‑art success rates with consistent gains across all suites while using only 64 tokens, and similar improvements are observed in real‑robot experiments.
arXiv:2606. 26443v1 Announce Type: cross Abstract: A robot working alongside people must reason about what they have done, in what order, and with what intent.
RoboSPA is a large-scale robotic manipulation dataset and benchmark designed to evaluate Vision‑Language‑Action models on fine‑grained spatial reasoning and long‑horizon procedural planning. It contains 10 task categories, 56 base tasks, and 280 variants across five difficulty levels, with 527K trajectories collected from multiple embodiments and scenes. The benchmark introduces diagnostic metrics beyond binary success, revealing that current VLA models struggle with complex spatial relations, precise execution, and memory‑intensive planning.
arXiv:2608. 19891v1 Announce Type: new Abstract: How to efficiently finetune robot policies to learn new tasks on the fly?
The paper introduces Reasoning and Flow Memory (FLOWMEM), a vision‑language‑action model that reuses successful latent reasoning steps instead of discarding them after each policy query. FLOWMEM dynamically retrieves and recomposes compatible latent fragments to form a reasoning route that aligns with the temporal structure of prior successful computations, then refines this route with current visual and proprioceptive data before generating actions. Experiments on RoboMME and LIBERO‑Plus show that FLOWMEM improves success rates by 1.7 and 4.1 percentage points over memory‑free policies, demonstrating the benefit of reusing latent computation for closed‑loop control.