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simmediummanipulationmetric · varies
VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory
Description
Imitation learning from human demonstrations has achieved significant success in robotic control, yet most visuomotor policies still condition on single-step observations or short-context histories, making them struggle with non-Markovian tasks that require long-term memory. Simply enlarging the context window incurs substantial computational and memory costs and encourages overfitting to spurious correlations, leading to catastrophic failures under distribution shift and violating real-time con