VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory

arXiv:2603.04910v2 Announce Type: replace-cross Abstract: Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, making them struggle with non-Markovian tasks that require long-term memory. Simply enlarging the context window incurs substantial computational and memory costs and encourages overfitting to spurious correlations, leading to catastrophic failures under distribution shift and violating real-time constraints in robotic systems. By contrast, humans can compress important past experiences into long-term memories and exploit them to solve tasks throughout their lifetime. In this paper, we propose VPWEM, a non-Markovian visuomotor policy equipped with working and episodic memories. VPWEM retains a sliding window of recent observation embeddings as short-term working memory, and introduces a Transformer-based contextual memory compressor that recursively converts out-of-window observations into a fixed number of episodic memory embeddings. The compressor uses self-attention over a cache of past summary embeddings and cross-attention over a cache of historical observations, and is trained jointly with the policy. We instantiate VPWEM on diffusion policies to exploit both short-term and episode-wide information for action generation with nearly constant memory and computation per step. Experiments demonstrate that VPWEM outperforms state-of-the-art baselines including diffusion policies and vision-language-action (VLA) models by more than 20\% on the memory-intensive manipulation tasks in MIKASA and achieves an average 5\% improvement on the mobile manipulation benchmark MoMaRT. Code is available at https://github.com/HarryLui98/code_vpwem.

Abstract:Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, making them struggle with non-Markovian tasks that require long-term memory. Simply enlarging the context window incurs substantial computational and memory costs and encourages overfitting to spurious correlations, leading to catastrophic failures under distribution shift and violating real-time constraints in robotic systems. By contrast, humans can compress important past experiences into long-term memories and exploit them to solve tasks throughout their lifetime. In this paper, we propose VPWEM, a non-Markovian visuomotor policy equipped with working and episodic memories. VPWEM retains a sliding window of recent observation embeddings as short-term working memory, and introduces a Transformer-based contextual memory compressor that recursively converts out-of-window observations into a fixed number of episodic memory embeddings. The compressor uses self-attention over a cache of past summary embeddings and cross-attention over a cache of historical observations, and is trained jointly with the policy. We instantiate VPWEM on diffusion policies to exploit both short-term and episode-wide information for action generation with nearly constant memory and computation per step. Experiments demonstrate that VPWEM outperforms state-of-the-art baselines including diffusion policies and vision-language-action (VLA) models by more than 20\% on the memory-intensive manipulation tasks in MIKASA and achieves an average 5\% improvement on the mobile manipulation benchmark MoMaRT. Code is available at this https URL.

Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)

arXiv:2603.04910 [cs.RO]

(or arXiv:2603.04910v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2603.04910 Focus to learn more arXiv-issued DOI via DataCite

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VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory

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