robotics
An Always-On Robot Remembered What Both Arms Did
Asynchronous perception and self-history raised a combined streaming-task score from 28% to 45%.
Summary
Asynchronous perception and self-history raised a combined streaming-task score from 28% to 45%.
ARMS adds lightweight context modules to a pretrained robot policy so it can watch a continuing stream, recall past actions and coordinate two arms without stopping execution. On the authors' combined task, it reached 45% against 28% for the strongest of four baselines; ablations found that memory, embodied state and asynchronous concurrency each mattered. The result comes from a newly constructed dataset and task, not an open-ended household deployment.
Why it matters
Asynchronous perception and self-history raised a combined streaming-task score from 28% to 45%.
Limits and context
- The result comes from a newly constructed dataset and task, not an open-ended household deployment.
Key claims
Asynchronous perception and self-history raised a combined streaming-task score from 28% to 45%.
Qualification: The result comes from a newly constructed dataset and task, not an open-ended household deployment.
Evidence: source-2026-09-24-013
Sources
- arXiv preprint 2609.28429arXiv · primary research
Corrections
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