PMTRM: Pseudo-Memory Temporal Re-encoding Module for Embodied Policy Learning
Robotic manipulation often contains repeated motions whose local observations look similar at different phases. When these phases require different actions, a policy that relies mainly on the current observation may repeat completed motions or switch phases at the wrong time. To address this phase ambiguity, we present the Pseudo-Memory Temporal Re-encoding Module (PMTRM), a lightweight plug-in module with only 7.61M parameters that encodes a bounded history of executed states and actions into a latent sequence for existing policies. To help distinguish phases, a temporal heterogeneity objective penalizes positive similarity between distant positions in this sequence, while anchor and rec...
| Authors | Changchuan Yang, Haoxuan Xu, Wenbo Chen et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 October 2026 |
| Last updated at source | 8 October 2026 |
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