arxivcs.ROcs.AI2026-07-03
HiMe: Hierarchical Embodied Memory for Long-Horizon Vision-Language-Action Control
Li Ji, Siyin Wang, Pengfang Qian, Xiaopeng Yu, Yihai Tian, Zhaoye Fei, et al.
Current Vision-Language-Action (VLA) models excel at robotic manipulation but often struggle with non-Markovian tasks requiring long-term memory and reasoning due to their reliance on immediate observations. Existing solutions face a ''frequency-competence paradox,'' where strong…