Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control

arXiv:2606.25136v1 Announce Type: new Abstract: General-purpose robots operating in partially observable environments, such as homes, require memory to support autonomy. They must recall diverse information from the past, such as where objects were placed, which tasks a human partner has completed, and when an appliance was turned on. Achieving this versatility requires a general memory retrieval mechanism. Transformer architectures that use attention over long contexts for memory retrieval prov...