Explicit Language Memory for Long-Horizon Planning in Vision-Language-Action Models

arXiv:2608.04765 · cs.RO, cs.AI, cs.CV · Submitted 2026-08-05 · Read on arXiv

cs.RO, cs.AI, cs.CV

Submitted: 2026-08-05

Updated: 2026-09-17

Comments: This submission has been withdrawn by the authors due to unresolved differences among the coauthors regarding the manuscript's novelty and technical positioning, including substantial overlap with concurrent work

Code: https://github.com/box2ai-robotics/joycon-robotics

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Consistency — 4× in this paper · explained in 3 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• VLA Models — 4× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Compositional Generalization — 2× in this paper · explained in 4 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Temporal consistency — 2× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 2× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Reasoning Traces — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• PaliGemma: A versatile 3B VLM for transfer
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• RT-1: Robotics Transformer for Real-World Control at Scale
• Inner Monologue: Embodied Reasoning through Planning with Language Models
• OpenVLA: An Open-Source Vision-Language-Action Model
• HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy
• BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
• RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
• Octo: An Open-Source Generalist Robot Policy
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation
• dVLA: Diffusion Vision-Language-Action Model with Multimodal Chain-of-Thought
• Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot
• Robotic Control via Embodied Chain-of-Thought Reasoning
• DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving