Dual-Stream Memory for Vision-Language-Action Policies
Memory-dependent manipulation requires a policy to track execution state and recover visual evidence that is no longer observable. We propose dual-stream memory for vision-language-action policies, assigning these requirements to complementary representations. A task-agnostic Gated DeltaNet compresses history into one temporal token, supervised by progress prediction and action-conditioned feature reconstruction. A task-conditioned retriever retains frames above a fixed relevance threshold; linear multi-scale fusion encodes each frame into sixteen spatial tokens. We then freeze the temporal compressor and jointly optimize retrieval and policy learning. Across sixteen RoboMME tasks, the co...
| Authors | Yang Wang, Ping Liu, Ruiyu Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 October 2026 |
| Last updated at source | 9 October 2026 |
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