arXiv AI
Oct 16

RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design

RMBench is a simulation benchmark featuring nine robotic manipulation tasks that vary in memory complexity, designed to systematically evaluate how well policies use memory. The authors also introduce Mem-0, a modular policy with explicit memory components that allows controlled ablation studies. Experiments in simulation and the real world reveal memory-related limitations in current policies and show how architectural choices affect memory performance.

By Tianxing Chen, Yuran Wang, Mingleyang Li, Yan Qin, Hao Shi, Zixuan Li, Yifan Hu, Yingsheng Zhang, Kaixuan Wang, Yue Chen, Hongcheng Wang, Junjie Wang, Tianhang Yang, Renjing Xu, Ruihai Wu, Yao Mu, Yaodong Yang, Hao Dong, Ping Luo