arXiv:2609.22854v1 Announce Type: cross Abstract: Vision-language-action models often predict actions from only the current observation, which can leave tasks involving object occlusion or visually i...
arXiv:2609.34792v2 Announce Type: replace Abstract: Long-horizon manipulation requires robots to remember cues that are no longer in view while responding to moving objects. Yet vision-language-actio...
arXiv:2610.00982v1 Announce Type: cross Abstract: Vision-language-action (VLA) models struggle on history-dependent manipulation tasks, where the current observation alone does not determine the acti...
arXiv:2607. 25487v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models translate natural-language commands into robot action sequences, but leading systems on the LIBERO-Plus robustness benchmark use three- to seven-billion-parameter backbones whose memory demands can exceed embedded robotic budgets.
arXiv:2603. 24576v2 Announce Type: replace-cross Abstract: Robots often observe information that determines a future action long before that action is executed.
arXiv:2608.29537v1 Announce Type: cross Abstract: Frozen vision-language-action (VLA) policies offer broad manipulation skills but execute open-loop action chunks without tracking task progress, so t...
arXiv:2608. 16889v1 Announce Type: cross Abstract: Long-horizon robot manipulation chains many contact-rich skills into one multi-stage task.
arXiv:2609.22684v1 Announce Type: cross Abstract: Memory-dependent robotic manipulation often requires later actions to use information from earlier interactions. Existing vision-language-action (VLA...
MemBodied introduces a fixed‑size episodic memory for Vision‑Language‑Action models, comprising an associative state that tracks interactions across policy calls and an episode anchor that stores a compact representation of the initial scene. By conditioning action generation on these memory components instead of raw past observations, MemBodied reduces context bloat and inference latency. In five memory‑dependent RMBench tasks, it outperforms stateless and vanilla recurrent policies by significant margins, and achieves a 90.6% success rate on the LIBERO‑Long suite, improving over the baseline by 5.4%.
VLCP (Vision Language Control Policy) is a training‑free robot manipulation approach that keeps a vision‑language model (VLM) frozen and uses it to generate short Python control functions. Unlike traditional methods that retry a fixed policy, VLCP rewrites the control code every K steps based on multi‑view RGB, proprioceptive state, and state delta, allowing failures to be corrected within the same episode. In a 57‑task MuJoCo/RoboVerse benchmark, VLCP achieves 35.1% pooled success versus 3.5% for a single‑query baseline, with a 27.3% within‑episode recovery rate on failed grasps and efficient token usage.
PonderPounce introduces a two‑stage system that leverages a multimodal large language model (MLLM) as an episode‑context engine for robot control. The System2 component, Ponder, accumulates observations, demonstrations, and prior cognition in its native causal context, producing subgoal text and reasoning. The System1 component, Pounce, uses the current observation, instruction, and proprioception, receiving only the newest cognition token and its age from Ponder; the pair is jointly trained end‑to‑end without a separate memory module, achieving real‑time action playback and outperforming baseline methods on RoboMME and RoboCasa‑DC benchmarks.
arXiv:2608.22869v1 Announce Type: cross Abstract: While Vision-Language-Action (VLA) models have leveraged internet-scale pretraining and task-focused finetuning to achieve strong performance on long...