Memory as Plans: World-Action Modeling with Memory-Grounded Planning

智能体 2026-09-10 来源：HuggingFace Daily Papers 自动聚合阅读 22 次 · 访客 18 位

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arxiv:2609.11561

Published on Sep 10

· Submitted by

Haozhe Xie on Sep 11

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Authors:

Sizhe Zhao ,

Haozhe Xie ,

Abstract

MaP-WAM improves non-Markovian robotic manipulation by separating memory-grounded planning from plan-conditioned execution, using compact episodic segment records and progress-calibrated action chunks to maintain fixed inference latency.

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Mainstream robotic policies often adopt a Markovian formulation, but many complex real-world manipulation tasks are inherently non-Markovian, requiring long-horizon memory beyond the current observation. Existing memory mechanisms often rely on language summaries, growing visual windows, or their combinations, and may therefore lose fine-grained visual evidence or face a trade-off between history coverage and execution efficiency. We introduce MaP-WAM, a Memory-as-Plans framework that decomposes memory-dependent world-action modeling into memory-grounded planning and plan-conditioned execution, and uses long-term multimodal episodic context as planning-time evidence rather than repeatedly conditioning the executor on the full history. MaP-WAM represents memory as completed segment records containing language instructions and sparse visual context, and converts this episodic memory into compact plans comprising the next segment-level language plan and corresponding visual guidance. A World-Action-Progress (WAP) model executes each plan over an unknown duration by jointly predicting action chunks and corresponding execution progress at inference time, calibrating predicted progress through plan-observation alignment for adaptive segment transitions and closed-loop context updates. MaP-WAM keeps the executor context length fixed, while structured attention further enables key-value caching in both planning and execution. MaP-WAM achieves state-of-the-art performance on RMBench with an 83.3% success rate and attains 78.0% success on real-robot tasks, while maintaining approximately constant executor inference latency as task history grows.

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hzxie

Paper author Paper submitter 11 days ago

Project Page: https://sizhezhao.github.io/projects/MaP-WAM/ GitHub: https://github.com/aipixel/MaP-WAM

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