arXiv Computer Vision
Oct 23

UniMem: Unifying Visual and Textual Memory in VLAs for Non-Markovian Tasks

UniMem is a framework that unifies visual and textual memory with low‑level control in a single Vision‑Language‑Action model, using an event classifier, keyframe encoder, and caching to manage memory efficiently. It addresses non‑Markovian tasks that require remembering past scenes, avoiding the memory bottleneck of separate VLMs and the performance drop from fixed‑interval frame sampling. Across five simulation and four hardware tasks, UniMem outperforms fixed‑interval sampling (93.4% vs. 68.2%) and hierarchical VLM‑VLA baselines (80.0% vs. 43.5%) while offering faster inference and a simpler training pipeline.

By Lars Osterberg, Maggie Wang, Mac Schwager
arXiv AI
Aug 28

LeVJEPA: Efficient & Scalable Video Pretraining without the Heuristics

LeVJEPA is a video encoder that eliminates the need for architectural asymmetries, exponential-moving-average target encoders, stop-gradients, and capacity-limited predictors used in prior self‑supervised methods. It trains a single encoder with an invariance loss over global and local views, regularized by SIGReg to prevent collapse, and achieves strong performance with far less pretraining compute. The approach also allows block‑causal attention, making temporal ordering a property of the encoder itself, and matches or surpasses state‑of‑the‑art baselines on both appearance‑centric and motion‑centric benchmarks.

By Lukas Kuhn, Lucas Maes, Giuseppe Serra, Quentin Le Lidec, Yann LeCun, Randall Balestriero, Florian Buettner