mlsanityData to 7 Oct 2026

MemER: Scaling Up Memory for Robot Control via Experience Retrieval

arXiv 2510.20328 ↗First posted 23 Oct 2025cs.RO cs.AI cs.LGcited by 64

Not on the map. Why?

Cited by 35 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Humans routinely rely on memory to perform tasks, yet most robot policies lack this capability; our goal is to endow robot policies with the same ability. Naively conditioning on long observation histories is computationally expensive and brittle under covariate shift, while indiscriminate subsampling of history leads to irrelevant or redundant information. We propose a hierarchical policy framework, where the high-level policy is trained to select and track previous relevant keyframes from its experience. The high-level policy uses selected keyframes and the most recent frames when generating text instructions for a low-level policy to execute. This design is compatible with existing vision-language-action (VLA) models and enables the system to efficiently reason over long-horizon dependencies. In our experiments, we finetune Qwen2.5-VL-7B-Instruct and π0.5 as the high-level and low-level policies respectively, using demonstrations supplemented with minimal language annotations. Our approach, MemER, outperforms prior methods on three real-world long-horizon robotic manipulation tasks that require minutes of memory. Videos and code can be found at https://jen-pan.github.io/memer/.

Key facts. Cited by 64 papers in the map (data through 7 Oct 2026). Builds on 22 of its 27 references that are in the map. First posted on arXiv 23 Oct 2025.

Builds on

22 of 27 references.

References · 22

  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  2. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,653
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  4. 2024TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policiescited by 298
  5. 2025Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Modelscited by 216
  6. 2023Self-Chained Image-Language Model for Video Localization and Question Answeringcited by 200
  7. 2025HAMSTER: Hierarchical Action Models For Open-World Robot Manipulationcited by 125
  8. 2024Yell At Your Robot: Improving On-the-Fly from Language Correctionscited by 123
  9. 2025M-LLM Based Video Frame Selection for Efficient Video Understandingcited by 87
  10. 2025SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulationcited by 58
  11. 2024VLind-Bench: Measuring Language Priors in Large Vision-Language Modelscited by 44
  12. 2025MLLMs are Deeply Affected by Modality Biascited by 38
10 more
  1. 2024AMEGO: Active Memory from long EGOcentric videoscited by 35
  2. 2025RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correctioncited by 35
  3. 2024From LLMs to Actions: Latent Codes as Bridges in Hierarchical Robot Controlcited by 34
  4. 2025Learning Long-Context Diffusion Policies via Past-Token Predictioncited by 28
  5. 2024Understanding Long Videos with Multimodal Language Modelscited by 25
  6. 2024Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robotcited by 21
  7. 2024Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Modelscited by 15
  8. 2024Online Episodic Memory Visual Query Localization with Egocentric Streaming Object Memorycited by 11
  9. 2023Semantic Mechanical Search with Large Vision and Language Modelscited by 8
  10. 2025Towards Fast, Memory-based and Data-Efficient Vision-Language Policycited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 64.

64 papers.

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  1. 2026Causal World Modeling for Robot Controlcited by 289
  2. 2026π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilitiescited by 127
  3. 2026MEM: Multi-Scale Embodied Memory for Vision Language Action Modelscited by 55
  4. 2026RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Designcited by 40
  5. 2026Native Video-Action Pretraining for Generalizable Robot Controlcited by 30
  6. 2026ReMem-VLA: Empowering Vision-Language-Action Model with Memory via Dual-Level Recurrent Queriescited by 28
  7. 2026RLDX-1 Technical Reportcited by 25
  8. 2026EventVLA: Event-Driven Visual Evidence Memory for Long-Horizon Vision-Language-Action Policiescited by 18
  9. 2026BPP: Long-Context Robot Imitation Learning by Focusing on Key History Framescited by 17
  10. 2026Gated Memory Policy: In-Context Memorization and Adaptationcited by 13
  11. 2026RoboTTT: Context Scaling for Robot Policiescited by 13
  12. 2026MemoryWAM: Efficient World Action Modeling with Persistent Memorycited by 12
38 more
  1. 2026Wall-OSS-0.5 Technical Reportcited by 11
  2. 2026Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflectioncited by 9
  3. 2026MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Modelscited by 9
  4. 2026HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulationcited by 8
  5. 2026Non-Markovian Long-Horizon Robot Manipulation via Keyframe Chainingcited by 7
  6. 2026HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation Systemcited by 7
  7. 2026μVLA: On Recurrent Memory for Partially Observable Manipulation in VLA Modelscited by 7
  8. 2026VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memorycited by 6
  9. 2026Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoringcited by 6
  10. 2026DAM-VLA: Decoupled Asynchronous Multimodal Vision Language Action modelcited by 6
  11. 2026KEMO: Event-Driven Keyframe Memory for Long-Horizon Robot Manipulation with VLA Policiescited by 5
  12. 2026Spatial Memory for Out-of-Vision Manipulation in Vision-Language-Actioncited by 4
  13. 2026Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulationcited by 4
  14. 2026NativeMEM: Native Memory Compression for Long-Horizon Robotic Manipulationcited by 4
  15. 2026Dual Latent Memory in Vision-Language-Action Models for Robotic Manipulationcited by 4
  16. 2026Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memorycited by 4
  17. 2026RoboHarness: A Memory-Augmented Policy Harness for Vision-Language-Action Model Robustness via In-Context Adaptationcited by 3
  18. 2026CodeGraphVLP: Code-as-Planner Meets Semantic-Graph State for Non-Markovian Vision-Language-Action Modelscited by 3
  19. 2026τ0-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computationcited by 3
  20. 2026PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoningcited by 2
  21. 2026Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning via Subtask-Level Progress Rate and Keyframe Memory for Long-Horizon Contact-Rich Robotic Manipulationcited by 2
  22. 2026AURA: Action-Gated Memory for Robot Policies at Constant VRAMcited by 2
  23. 2026SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulationcited by 2
  24. 2026WeaveLA: Event Driven Cross-Subtask Latent Memory Weaving for Repetitive Robot Manipulationcited by 2
  25. 2026MemoryVAM: Integrating Memory into Video Action Model for Robot Manipulationcited by 2
  26. 2026RAVEN: Long-Horizon Reasoning & Navigation with a Visuo-Spatio-Temporal Memorycited by 2
  27. 2026ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulationcited by 2
  28. 2026SimpleMemVLA: A Simple but Effective Native-Video Memory for Vision-Language-Action Modelscited by 2
  29. 2026Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulationcited by 1
  30. 2026Analytic Concept-Centric Memory for Agentic Embodied Manipulationcited by 1
  31. 2026Present but Not Remembered: Auditing How Frozen VLAs Encode, Deploy, and Steer Visual Historycited by 1
  32. 2026Think Only When Needed: Prompt-Authority Control for Selective Slow-Path Intervention in Vision-Language-Action Manipulationcited by 1
  33. 20262AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulationcited by 1
  34. 2026System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Gamescited by 0
  35. 2026Memory as a Wasting Asset: Pricing Flash Endurance for Embodied Agents, and the Limits of Doing Socited by 0
  36. 2026RoboMME-Interference: Benchmarking Robot Memory Under Interferencecited by 0
  37. 2026Vision Language Action (VLA) Models for Unmanned Aerial Robotics and Bimanual Manipulation: A Reviewcited by 0
  38. 2026What Language Does and What the Evidence Supports: A Functional Role Taxonomy and Evidence Audit of Language Grounding in Embodied Agentscited by 0

50 most cited of 64 All 64 (JSON)

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Close in wording, no citation either way

  1. 2026T2Mem: Learning Test-Time Memory for Robotics ↗
  2. 2026MemBodied: Recurrent Associative Memory for Vision-Language-Action Models
  3. 2026Remember what you did?: Learning Behavioral Memories for Partially Observable Object Manipulation
  4. 2026Memory Retrieval in Visuomotor Policies for Long-Horizon Robot Control
  5. 2026ECoMEM: Explicit Concept Memory for Memory-Dependent Robot Control ↗
  6. 2026Remember Smarter: Visual History Compressor and Hyperbolic Experience Space for Robotic Memory
  7. 2026OnEvoMemory: Evolving Memory through Online Robot Rollouts for Pretrained Robot Policies ↗
  8. 2026ECHO: Continuous Hierarchical Memory for Vision-Language-Action Models