Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation
Humanoid loco-manipulation in dynamic scenes is non-Markovian: cues vanish as objects change or are hidden, or leave the view as the robot turns and walks, yet whole-body vision-language-action (VLA) policies see only the present. We present WholeBodyMem, an object-guided perceptual memory that keeps the pre-history of...
Chen-Yuan Chen, Ran Ding, Le-Chen Zhang et al.
· 0 citations