Divide-and-Remember: Recursive Action-Relevant Memory for Long-Horizon VLA Policies

Excerpt

arXiv:2610.00982v1 Announce Type: cross Abstract: Vision-language-action (VLA) models struggle on history-dependent manipulation tasks, where the current observation alone does not determine the action, and the policy needs a memory of the history. Existing memory methods decide what to remember by design, for example, keeping frames with large pixel changes, and show inconsistent gains across tasks. We view what to remember as an optimisation problem. From the POMDP formulation of imitation lea