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MemBodied: Recurrent Associative Memory for Vision-Language-Action Models

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Vision-Language-Action models provide a strong foundation for general-purpose robot control, yet a vast majority of policies do not preserve and leverage episode-level information beyond the current observation. This limitation is consequential in history-dependent manipulation tasks that depend on information available only in past observations. Retaining past observations in context can aid in recovering this information, but at the significant cost of ever-growing, bloated context and inference latency. We thus introduce MemBodied, a fixed-size episodic memory with two complementary compone

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