The paper introduces PMTRM, a lightweight plug‑in module that encodes a bounded history of executed states and actions into a latent sequence to help policies disambiguate repeated motions in robotic manipulation. It uses a temporal heterogeneity objective to penalize similarity between distant positions, along with anchor and reconstruction losses to preserve action‑relevant information. The module is trained progressively on synthetic and real robot data, then jointly with existing policies, and experiments show improved task success on phase‑ambiguous tasks with minimal extra computation.
arXiv:2610.14406v1 Announce Type: cross Abstract: It is widely appreciated that robotic policies require long-term memory to perform complex tasks. However, directly conditioning policies on all past...
arXiv:2603. 04910v2 Announce Type: replace-cross Abstract: Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, making them struggle with non-Markovian tasks that require long-term memory.
Dynin‑Robotics introduces an omnimodal masked‑diffusion backbone, Dynin‑Omni, that jointly represents language, visual observations, goals, and actions as discrete tokens. By conditioning on different spans, the same model learns action prediction, next‑observation prediction, goal‑state prediction, and trajectory‑to‑instruction reconstruction, enabling test‑time scaling through goal prediction and action‑candidate evaluation. The system, pretrained on 1.33 million trajectories from 48 Open X‑Embodiment datasets, achieves competitive performance on LIBERO, zero‑shot LIBERO‑Plus, and a 78.4 % success rate on a Franka Research 3 robot, while a block‑parallel implementation speeds up action decoding by up to 29.2×.
arXiv:2607. 27138v1 Announce Type: cross Abstract: Vision-language-action (VLA) models remain constrained by scarce action-labeled robot data, whereas action-free videos offer abundant observations of physical change.
arXiv:2606. 03598v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have achieved remarkable success in language-conditioned robotic manipulation.
arXiv:2609.32453v2 Announce Type: replace-cross Abstract: Robotic manipulation is inherently history-dependent, yet most pretrained robotic policies condition on only the current observation or a sho...
The paper introduces a dual‑stream memory architecture for vision‑language‑action policies, separating a task‑agnostic temporal compressor from a task‑conditioned visual retriever. The temporal compressor uses a Gated DeltaNet to condense history into a single token, while the retriever keeps frames above a relevance threshold and fuses them into spatial tokens. Evaluated on sixteen RoboMME tasks and four real‑robot tasks, the combined model outperforms the FrameSamp+Modul baseline, achieving higher mean success rates and notable gains on tasks requiring execution‑stage discrimination.
The paper introduces Spatial Language Modeling, a framework that unifies action generation and state prediction using a shared vocabulary of discrete coordinates and semantic tokens. An autoregressive Transformer learns both tasks through a common next‑token objective, trained first with random‑play transition pretraining and then on expert demonstrations. Experiments on the Push‑T task in simulation and on a real robot show that the model matches simulation performance and outperforms baseline policies in task success and target coverage, while also accurately predicting scene states from action trajectories.
arXiv:2609.36595v1 Announce Type: cross Abstract: Visual-memory systems commonly retain or compress past observations. Robot control additionally requires interaction-derived state that no individual...
arXiv:2511. 18960v4 Announce Type: replace Abstract: Vision-Language-Action (VLA) models have shown remarkable progress in embodied tasks recently, but most methods process visual observations independently at each timestep.
arXiv:2609.16864v1 Announce Type: cross Abstract: Vision-language-action (VLA) models have achieved impressive performance in quasi-static manipulation, but struggle in dynamic manipulation tasks bec...
RIFAR is a new continual learning method for robots that uses reliability screening and drift-aware replay to mitigate forgetting while keeping storage low. It reconstructs past trajectories from short demonstration prefixes and employs a frozen inverse-dynamics model to verify action‑visual consistency. In experiments on LIBERO suites and real‑world tasks, RIFAR outperforms previous generative replay approaches, achieving high performance with only a small fraction of stored steps.