Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks
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| Format: | Preprint |
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2026
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| _version_ | 1866908895643959296 |
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| author | Wang, Honghui Jing, Zhi Ao, Jicong Song, Shiji Li, Xuelong Huang, Gao Bai, Chenjia |
| author_facet | Wang, Honghui Jing, Zhi Ao, Jicong Song, Shiji Li, Xuelong Huang, Gao Bai, Chenjia |
| contents | The high cost of collecting real-robot data has made robotic simulation a scalable platform for both evaluation and data generation. Yet most existing benchmarks concentrate on simple manipulation tasks such as pick-and-place, failing to capture the non-Markovian characteristics of real-world tasks and the complexity of articulated object interactions. To address this limitation, we present RuleSafe, a new articulated manipulation benchmark built upon a scalable LLM-aided simulation framework. RuleSafe features safes with diverse unlocking mechanisms, such as key locks, password locks, and logic locks, which require different multi-stage reasoning and manipulation strategies. These LLM-generated rules produce non-Markovian and long-horizon tasks that require temporal modeling and memory-based reasoning. We further propose VQ-Memory, a compact and structured temporal representation that uses vector-quantized variational autoencoders (VQ-VAEs) to encode past proprioceptive states into discrete latent tokens. This representation filters low-level noise while preserving high-level task-phase context, providing lightweight yet robust temporal cues that are compatible with existing Vision-Language-Action models (VLA). Extensive experiments on state-of-the-art VLA models and diffusion policies show that VQ-Memory consistently improves long-horizon planning, enhances generalization to unseen configurations, and enables more efficient manipulation with reduced computational cost. Project page: vqmemory.github.io |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_09513 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks Wang, Honghui Jing, Zhi Ao, Jicong Song, Shiji Li, Xuelong Huang, Gao Bai, Chenjia Robotics The high cost of collecting real-robot data has made robotic simulation a scalable platform for both evaluation and data generation. Yet most existing benchmarks concentrate on simple manipulation tasks such as pick-and-place, failing to capture the non-Markovian characteristics of real-world tasks and the complexity of articulated object interactions. To address this limitation, we present RuleSafe, a new articulated manipulation benchmark built upon a scalable LLM-aided simulation framework. RuleSafe features safes with diverse unlocking mechanisms, such as key locks, password locks, and logic locks, which require different multi-stage reasoning and manipulation strategies. These LLM-generated rules produce non-Markovian and long-horizon tasks that require temporal modeling and memory-based reasoning. We further propose VQ-Memory, a compact and structured temporal representation that uses vector-quantized variational autoencoders (VQ-VAEs) to encode past proprioceptive states into discrete latent tokens. This representation filters low-level noise while preserving high-level task-phase context, providing lightweight yet robust temporal cues that are compatible with existing Vision-Language-Action models (VLA). Extensive experiments on state-of-the-art VLA models and diffusion policies show that VQ-Memory consistently improves long-horizon planning, enhances generalization to unseen configurations, and enables more efficient manipulation with reduced computational cost. Project page: vqmemory.github.io |
| title | Beyond Short-Horizon: VQ-Memory for Robust Long-Horizon Manipulation in Non-Markovian Simulation Benchmarks |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.09513 |