# Recurrent Action Transformer with Memory

arXiv: https://arxiv.org/abs/2306.09459 · HTML: https://mlsanity.com/paper/2306.09459/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- Placed in Decision transformers and sequence modeling, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 63 of its 92 references that are in the map.
- First posted on arXiv 15 Jun 2023.

## Placed in

- Offline RL and imitation learning from data / [Decision transformers and sequence modeling](https://mlsanity.com/offlinerl/decision-transformers-and-sequence-modeling/)

## Builds on (most cited first, 30 of 63)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Training data-efficient image transformers & distillation through attention](https://mlsanity.com/paper/2012.12877/) (2020)
- [Neural Machine Translation by Jointly Learning to Align and Translate](https://mlsanity.com/paper/1409.0473/) (2014)
- [wav2vec 2.0: A Framework for Self-Supervised Learning of Speech Representations](https://mlsanity.com/paper/2006.11477/) (2020)
- [OPT: Open Pre-trained Transformer Language Models](https://mlsanity.com/paper/2205.01068/) (2022)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [Longformer: The Long-Document Transformer](https://mlsanity.com/paper/2004.05150/) (2020)
- [Playing Atari with Deep Reinforcement Learning](https://mlsanity.com/paper/1312.5602/) (2013)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling](https://mlsanity.com/paper/1412.3555/) (2014)
- [HuBERT: Self-Supervised Speech Representation Learning by Masked Prediction of Hidden Units](https://mlsanity.com/paper/2106.07447/) (2021)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Transformer-XL: Attentive Language Models Beyond a Fixed-Length Context](https://mlsanity.com/paper/1901.02860/) (2019)
- [Conservative Q-Learning for Offline Reinforcement Learning](https://mlsanity.com/paper/2006.04779/) (2020)
- [GLU Variants Improve Transformer](https://mlsanity.com/paper/2002.05202/) (2020)
- [Big Bird: Transformers for Longer Sequences](https://mlsanity.com/paper/2007.14062/) (2020)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [Rethinking Attention with Performers](https://mlsanity.com/paper/2009.14794/) (2020)
- [LXMERT: Learning Cross-Modality Encoder Representations from Transformers](https://mlsanity.com/paper/1908.07490/) (2019)
- [Decision Transformer: Reinforcement Learning via Sequence Modeling](https://mlsanity.com/paper/2106.01345/) (2021)
- [D4RL: Datasets for Deep Data-Driven Reinforcement Learning](https://mlsanity.com/paper/2004.07219/) (2020)
- [On the Properties of Neural Machine Translation: Encoder-Decoder Approaches](https://mlsanity.com/paper/1409.1259/) (2014)
- [VL-BERT: Pre-training of Generic Visual-Linguistic Representations](https://mlsanity.com/paper/1908.08530/) (2019)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [A Generalist Agent](https://mlsanity.com/paper/2205.06175/) (2022)
- [Compressive Transformers for Long-Range Sequence Modelling](https://mlsanity.com/paper/1911.05507/) (2019)

## Built on by (most cited first, 17 of 17)

- [Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning](https://mlsanity.com/paper/2502.10550/) (2025)
- [LMAct: A Benchmark for In-Context Imitation Learning with Long Multimodal Demonstrations](https://mlsanity.com/paper/2412.01441/) (2024)
- [SRMT: Shared Memory for Multi-agent Lifelong Pathfinding](https://mlsanity.com/paper/2501.13200/) (2025)
- [μVLA: On Recurrent Memory for Partially Observable Manipulation in VLA Models](https://mlsanity.com/paper/2606.12497/) (2026)
- [Learning Memory Mechanisms for Decision Making through Demonstrations](https://mlsanity.com/paper/2411.07954/) (2024)
- [ELMUR: External Layer Memory with Update/Rewrite for Long-Horizon RL Problems](https://mlsanity.com/paper/2510.07151/) (2025)
- [Unraveling the Complexity of Memory in RL Agents: an Approach for Classification and Evaluation](https://mlsanity.com/paper/2412.06531/) (2024)
- [DAM-Seg: Anatomically accurate cardiac segmentation using Dense Associative Networks](https://mlsanity.com/paper/2502.15128/) (2025)
- [Beyond Sliding Windows: Learning to Manage Memory in Non-Markovian Environments](https://mlsanity.com/paper/2512.19154/) (2025)
- [Re:Frame -- Retrieving Experience From Associative Memory](https://mlsanity.com/paper/2508.19344/) (2025)
- [Do We Need Transformers to Play FPS Video Games?](https://mlsanity.com/paper/2504.17891/) (2025)
- [Accelerating Transformers in Online RL](https://mlsanity.com/paper/2509.26137/) (2025)
- [MARL-GPT: Foundation Model for Multi-Agent Reinforcement Learning](https://mlsanity.com/paper/2604.05943/) (2026)
- [Scalable In-Context Reinforcement Learning with Recurrent Algorithm Distillation](https://mlsanity.com/paper/2609.35333/) (2026)
- [ALER: Adaptive Learnable Experience Rewriting for Reinforcement Learning](https://mlsanity.com/paper/2610.00592/) (2026)
- [Decision Titan: Test-Time Training for Long-Term Memory in Offline Reinforcement Learning](https://mlsanity.com/paper/2610.01513/) (2026)
- [Self-Supervised Keyframe Discovery for Horizon-Invariant Behavior Cloning](https://mlsanity.com/paper/2610.10857/) (2026)

## Abstract (arXiv)

Transformers have become increasingly popular in offline reinforcement learning (RL) due to their ability to treat agent trajectories as sequences, reframing policy learning as a sequence modeling task. However, in partially observable environments (POMDPs), effective decision-making depends on retaining information about past events -- something that standard transformers struggle with due to the quadratic complexity of self-attention, which limits their context length. One solution to this problem is to extend transformers with memory mechanisms. We propose the Recurrent Action Transformer with Memory (RATE), a novel transformer-based architecture for offline RL that incorporates a recurrent memory mechanism designed to regulate information retention. We evaluate RATE across a diverse set of environments: memory-intensive tasks (ViZDoom-Two-Colors, T-Maze, Memory Maze, Minigrid-Memory, and POPGym), as well as standard Atari and MuJoCo benchmarks. Our comprehensive experiments demonstrate that RATE significantly improves performance in memory-dependent settings while remaining competitive on standard tasks across a broad range of baselines. These findings underscore the pivotal role of integrated memory mechanisms in offline RL and establish RATE as a unified, high-capacity architecture for effective decision-making over extended horizons. Code: https://sites.google.com/view/rate-model/.