Publication
Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspective
A memory-aware robotic manipulation benchmark and slot-centric VLA model for non-Markovian manipulation tasks.
Abstract
This work introduces LIBERO-Mem, a non-Markovian task suite for stress-testing robotic manipulation under object-level partial observability. The benchmark tests whether policies can track object identities, histories, and temporally sequenced subgoals over time.
The paper also presents Embodied-SlotSSM, a slot-centric VLA model that maintains temporally consistent object representations and uses them for memory-aware action prediction in long-horizon manipulation.