mlsanityData to 7 Oct 2026

RMBench: Memory-Dependent Robotic Manipulation Benchmark with Insights into Policy Design

arXiv 2603.01229 ↗First posted 1 Mar 2026cs.RO cs.AIcited by 40

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Abstract (arXiv)

Robotic manipulation policies have made rapid progress in recent years, yet most existing approaches give limited consideration to memory capabilities. Consequently, they struggle to solve tasks that require reasoning over historical observations and maintaining task-relevant information over time, which are common requirements in real-world manipulation scenarios. Although several memory-aware policies have been proposed, systematic evaluation of memory-dependent manipulation remains underexplored, and the relationship between architectural design choices and memory performance is still not well understood. To address this gap, we introduce RMBench, a simulation benchmark comprising 9 manipulation tasks that span multiple levels of memory complexity, enabling systematic evaluation of policy memory capabilities. We further propose Mem-0, a modular manipulation policy with explicit memory components designed to support controlled ablation studies. Through extensive simulation and real-world experiments, we identify memory-related limitations in existing policies and provide empirical insights into how architectural design choices influence memory performance. The website is available at https://rmbench.github.io/.

Key facts. Cited by 40 papers in the map (data through 7 Oct 2026). Builds on 29 of its 36 references that are in the map. First posted on arXiv 1 Mar 2026.

Builds on

29 of 36 references.

References · 29

  1. 2023Efficient Memory Management for Large Language Model Serving with PagedAttentioncited by 5,767
  2. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  4. 2024LlamaFactory: Unified Efficient Fine-Tuning of 100+ Language Modelscited by 1,442
  5. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
  6. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 584
  7. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  8. 2025RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulationcited by 477
  9. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  10. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  11. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulationcited by 331
  12. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 285
17 more
  1. 2025Motus: A Unified Latent Action World Modelcited by 231
  2. 2025DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Controlcited by 191
  3. 2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulationcited by 183
  4. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  5. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 117
  6. 2025Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policiescited by 90
  7. 2025MemER: Scaling Up Memory for Robot Control via Experience Retrievalcited by 64
  8. 2025SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulationcited by 58
  9. 2024ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulationcited by 57
  10. 2024G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulationcited by 35
  11. 2025Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learningcited by 34
  12. 2025RoboCerebra: A Large-scale Benchmark for Long-horizon Robotic Manipulation Evaluationcited by 31
  13. 2025HiF-VLA: Hindsight, Insight and Foresight through Motion Representation for Vision-Language-Action Modelscited by 30
  14. 2025Dense Policy: Bidirectional Autoregressive Learning of Actionscited by 19
  15. 2026UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarkingcited by 15
  16. 2025AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratorycited by 12
  17. 2025Expertise need not monopolize: Action-Specialized Mixture of Experts for Vision-Language-Action Learningcited by 12

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 40.

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  1. 2026RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policiescited by 35
  2. 2026EventVLA: Event-Driven Visual Evidence Memory for Long-Horizon Vision-Language-Action Policiescited by 18
  3. 2026MemoryWAM: Efficient World Action Modeling with Persistent Memorycited by 12
  4. 2026World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesiscited by 10
  5. 2026Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflectioncited by 9
  6. 2026MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Modelscited by 9
  7. 2026HiMem-WAM: Hierarchical Memory-Gated World Action Models for Robotic Manipulationcited by 8
  8. 2026μVLA: On Recurrent Memory for Partially Observable Manipulation in VLA Modelscited by 7
  9. 2026ManiTwin: Scaling Data-Generation-Ready Digital Object Dataset to 100Kcited by 5
  10. 2026DIM-WAM: World-Action Modeling with Diverse Historical Event Memorycited by 5
  11. 2026SeedPolicy: Horizon Scaling via Self-Evolving Diffusion Policy for Robot Manipulationcited by 4
  12. 2026Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulationcited by 4
28 more
  1. 2026NativeMEM: Native Memory Compression for Long-Horizon Robotic Manipulationcited by 4
  2. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  3. 2026ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulationcited by 2
  4. 2026SimpleMemVLA: A Simple but Effective Native-Video Memory for Vision-Language-Action Modelscited by 2
  5. 2026WatchAct: A Benchmark for Behavior-Grounded Robot Manipulationcited by 1
  6. 2026BridgeVLA++: A Data-Efficient, Generalizable, and Memory-Augmented Vision-Language-Action Framework for 3D Manipulationcited by 1
  7. 2026SparkVLA: Stop-Aware Hierarchical VLA with Adaptive Action Chunking for Long-Horizon Manipulationcited by 1
  8. 20262AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulationcited by 1
  9. 2026MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignmentcited by 1
  10. 2026RoboMME-Interference: Benchmarking Robot Memory Under Interferencecited by 0
  11. 2026Situation Perception: A Necessary Primitive to Artificial Superintelligencecited by 0
  12. 2026Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levelscited by 0
  13. 2026WorldToken: Time-First Sequence Modeling for Robotic Imitation Learningcited by 0
  14. 2026UniMem: Unifying Multimodal Memory and Control for Vision-Language-Action Modelscited by 0
  15. 2026RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?cited by 0
  16. 2026MEMOBench: A Process Level Memory Benchmark for Robotic Manipulationcited by 0
  17. 2026Memory as Plans: World-Action Modeling with Memory-Grounded Planningcited by 0
  18. 2026AR-WAM: A Visual-Conditioned Agent-Ready World Action Model for Robotic Manipulationcited by 0
  19. 2026ActiveArena: Benchmarking and Understanding Active Perception in Robotic Manipulationcited by 0
  20. 2026MemBodied: Recurrent Associative Memory for Vision-Language-Action Modelscited by 0
  21. 2026DRAM: Delta-rule Recurrent Associative Memory for Robot Manipulation Policiescited by 0
  22. 2026RoboIRGBench: Benchmarking Implicit Referential Grounding in Vision-Language-Action Modelscited by 0
  23. 2026ReCAT: Remember, Count, and Time: Structured Recurrent Memory for Robot Manipulationcited by 0
  24. 2026Revision, Not Restart: Revisable Visual Plans for Closed-Loop World-Action Modelscited by 0
  25. 2026Simple Agentic Memory for Generalist Robot Policiescited by 0
  26. 2026ProgressCompass: Embodied Progress Reward Models Are Lost Without the Right Contextcited by 0
  27. 2026Remember What You Did: Action-History Memory with Dual-Expert Denoising for Long-Horizon Vision-Language-Action Policiescited by 0
  28. 2026RoboQuest: Generalist Physical Agents that Search, Inspect and Testcited by 0