KEMO: Event-Driven Keyframe Memory for Long-Horizon Robot Manipulation with VLA Policies (opens in new tab)

Long-horizon robot manipulation remains challenging because similar observations may occur at different execution stages, while the appropriate action depends on previously completed operations. Memory can address this ambiguity by enabling policies to infer task progress from execution history. However, existing memory-augmented approaches often either retain dense histories that require compression or rely primarily on recent context that may ...