PMTRM: Pseudo-Memory Temporal Re-encoding Module for Embodied Policy Learning

arXiv:2610.11168 · cs.RO, cs.AI · Submitted 2026-10-08 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Fine-Tuning — 8× in this paper · explained in 5 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Transformer — 6× in this paper · explained in 2 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Action Chunking — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Anchor Loss — 2× in this paper · explained in 1 episode
• Latent Representation — 2× in this paper · explained in 2 episodes
• Representation Learning — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Action Decoder — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Embodied AI — 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
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Latent Representations — 1× in this paper · explained in 3 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Phase Transitions — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• State Aliasing — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation
• Resolving State Ambiguity in Robot Manipulation via Adaptive Working Memory Recoding
• CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• OpenVLA: An Open-Source Vision-Language-Action Model
• SeedPolicy: Horizon Scaling via Self-Evolving Diffusion Policy for Robot Manipulation
• RT-1: Robotics Transformer for Real-World Control at Scale
• BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
• RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark

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