# MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning

arXiv: https://arxiv.org/abs/2607.14252 · HTML: https://mlsanity.com/paper/2607.14252/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 54 of its 67 references that are in the map.
- First posted on arXiv 15 Jul 2026.

## Builds on (most cited first, 30 of 54)

- [Retrieval-Augmented Generation for Knowledge-Intensive NLP Tasks](https://mlsanity.com/paper/2005.11401/) (2020)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [Generative Agents: Interactive Simulacra of Human Behavior](https://mlsanity.com/paper/2304.03442/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Locating and Editing Factual Associations in GPT](https://mlsanity.com/paper/2202.05262/) (2022)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [REALM: Retrieval-Augmented Language Model Pre-Training](https://mlsanity.com/paper/2002.08909/) (2020)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Video-MME: The First-Ever Comprehensive Evaluation Benchmark of Multi-modal LLMs in Video Analysis](https://mlsanity.com/paper/2405.21075/) (2024)
- [MemGPT: Towards LLMs as Operating Systems](https://mlsanity.com/paper/2310.08560/) (2023)
- [Text Embeddings by Weakly-Supervised Contrastive Pre-training](https://mlsanity.com/paper/2212.03533/) (2022)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [When Not to Trust Language Models: Investigating Effectiveness of Parametric and Non-Parametric Memories](https://mlsanity.com/paper/2212.10511/) (2022)
- [MVBench: A Comprehensive Multi-modal Video Understanding Benchmark](https://mlsanity.com/paper/2311.17005/) (2023)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Large Language Models Can Be Easily Distracted by Irrelevant Context](https://mlsanity.com/paper/2302.00093/) (2023)
- [Evaluating Very Long-Term Conversational Memory of LLM Agents](https://mlsanity.com/paper/2402.17753/) (2024)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [LongMemEval: Benchmarking Chat Assistants on Long-Term Interactive Memory](https://mlsanity.com/paper/2410.10813/) (2024)
- [Latent Retrieval for Weakly Supervised Open Domain Question Answering](https://mlsanity.com/paper/1906.00300/) (2019)
- [EgoSchema: A Diagnostic Benchmark for Very Long-form Video Language Understanding](https://mlsanity.com/paper/2308.09126/) (2023)
- [A Survey on the Memory Mechanism of Large Language Model based Agents](https://mlsanity.com/paper/2404.13501/) (2024)
- [MemoryBank: Enhancing Large Language Models with Long-Term Memory](https://mlsanity.com/paper/2305.10250/) (2023)
- [Rescaling Egocentric Vision](https://mlsanity.com/paper/2006.13256/) (2020)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [Making Retrieval-Augmented Language Models Robust to Irrelevant Context](https://mlsanity.com/paper/2310.01558/) (2023)
- [Memory Networks](https://mlsanity.com/paper/1410.3916/) (2014)
- [Selective Question Answering under Domain Shift](https://mlsanity.com/paper/2006.09462/) (2020)
- [Memory-R1: Enhancing Large Language Model Agents to Manage and Utilize Memories via Reinforcement Learning](https://mlsanity.com/paper/2508.19828/) (2025)

## Built on by (most cited first, 4 of 4)

- [AI Smart Glasses for Wearable Intelligence: From Egocentric Sensing to Agentic Personalization](https://mlsanity.com/paper/2609.19793/) (2026)
- [Video2Skill: From Streaming Experience to Reusable Embodied Skills](https://mlsanity.com/paper/2609.36691/) (2026)
- [Ego2World: Compiling Egocentric Cooking Videos into Executable Worlds for Belief-State Planning](https://mlsanity.com/paper/2610.02715/) (2026)
- [Never Look Back: Understanding Persistence in 3D Object Memory from Egocentric Videos](https://mlsanity.com/paper/2610.10538/) (2026)

## Abstract (arXiv)

Embodied agents accumulate experience over time. We study how accumulated experience can be formed into persistent memory for future reasoning and action. We formulate Embodied Action Memory (EAM) as the capability to form and use memory over embodied experience, together with the persistent memory state produced by that process. We introduce MEMORA, a framework that instantiates EAM through a formation-consolidation-retrieval lifecycle and a multi-store world-memory architecture. MEMORA organizes experience into participant-specific Environment, Entity, Activity, and Inferred Knowledge stores: online editing revises memory as new evidence arrives, while offline consolidation abstracts repeated experience into reusable routines, habits, and preferences. We evaluate MEMORA with MEMORA-Bench, a 45-hour egocentric-video suite that measures both retrospective memory faithfulness and prospective memory-grounded planning. Across four open-weight answer models, MEMORA achieves the strongest aggregate planning performance among the evaluated memory interfaces, with its largest gains on out-of-distribution planning. On these tasks, MEMORA improves Robot-Grounded Plan score by up to 16.6 percent, suggesting that memory formed and consolidated across experience can support planning for new goals beyond directly observed episodes. A physical-robot demonstration further shows that memory formed solely from human egocentric video can ground high-level robot plans in participant-specific objects and preferences. Project website: https://github.com/yuzihaowashu/MEMORA