Preprint Open access
Remember What You Did: Action-History Memory with Dual-Expert Denoising for Long-Horizon Vision-Language-Action Policies
Vision-language-action (VLA) models have driven rapid progress in robotic manipulation, demonstrating strong fine-grained control and promising performance on long-horizon tasks. However, many existing VLAs lack explicit access to interaction history, making them vulnerable to perceptual aliasing: similar current obser …