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Memory tokens are claimed to boost robot policies on memory-critical tasks
A post describes pretraining an encoder to compress vision and proprioception histories, then adding its tokens to policies via FiLM.
TLDR
A post describes a policy-agnostic approach to robot memory: pretrain an encoder to compress long histories of vision and proprioception into compact tokens, integrate them into existing policies through FiLM, then fine-tune them together. The post claims even a handful of tokens can deliver big gains on memory-critical tasks.
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3 Sources, first seen ago
