Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation
Humanoid loco-manipulation in dynamic scenes is non-Markovian: cues vanish as objects change or are hidden, or leave the view as the robot turns and walks, yet whole-body vision-language-action (VLA) policies see only the present. We present WholeBodyMem, an object-guided perceptual memory that keeps the pre-history of object events seen before the robot acts on its goal. SAM3 tracks the task objects, and their events causally select key frames within an adaptive budget, which the action expert reads by cross-attention together with object tokens encoding appearance, geometry and time. We also contribute HuMeGo, a humanoid memory benchmark with six simulated and six real-world Unitree G1 ...
| Authors | Chenyuan Chen, Ran Ding, Lechen Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 22 October 2026 |
| Last updated at source | 22 October 2026 |
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