| --- |
| license: other |
| license_name: gemma |
| license_link: https://ai.google.dev/gemma/terms |
| pipeline_tag: robotics |
| tags: |
| - robotics |
| - vision-language-action |
| - robot-memory |
| - pi0.5 |
| - robomme |
| - arxiv:2611.14488 |
| --- |
| |
| # Is Your Robot's Memory Just a Clock? — Checkpoints |
|
|
| Policies trained for the paper *Is Your Robot's Memory Just a Clock? Temporal Shortcuts in Memory-Augmented VLA Policies*. |
|
|
| Paper: [arXiv:2611.14488](https://arxiv.org/abs/2611.14488) |
|
|
| Code: [github.com/bennidict23/memory-clock](https://github.com/bennidict23/memory-clock) |
|
|
| All models are trained from the pi0.5 base checkpoint with the released [RoboMME](https://github.com/RoboMME/robomme_policy_learning) |
| MME-VLA recipe (FrameSamp-Modul memory, 30k steps, global batch 64) and evaluated on RoboMME. |
|
|
| | Folder | Model | Used in | |
| |---|---|---| |
| | `clock/` | FrameSamp-Modul memory with time stamps | Figs. 6, 8b | |
| | `noclock/` | the same without time encoding (`use_pos_emb: false`) | Fig. 6 | |
| | `clock-retrain/` | independent Clock retraining, control for pause augmentation | Fig. 8a | |
| | `pauseaug/` | Clock trained with pause augmentation | Fig. 8a | |
| | `pauseaug-weak/` | weaker pause-augmentation variant | Pause-augmentation ablation | |
|
|
| Each folder holds `29999/{params,assets}` (openpi / orbax format) and `history_config.txt`. |
|
|
| ## Usage |
|
|
| ```bash |
| git clone https://github.com/bennidict23/memory-clock.git && cd memory-clock |
| bash install.sh && bash download.sh # fetches these checkpoints into checkpoints/<name>/29999 |
| bash run_eval.sh --model clock --task PickXtimes --event pause --len 100 |
| ``` |
|
|
| ## License |
|
|
| The weights are derived from pi0.5 / PaliGemma and are subject to the [Gemma Terms of Use](https://ai.google.dev/gemma/terms). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @misc{zhang2026robotmemoryclock, |
| title={Is Your Robot's Memory Just a Clock? Temporal Shortcuts in Memory-Augmented VLA Policies}, |
| author={Chubin Zhang and Bo An}, |
| year={2026}, |
| eprint={2611.14488}, |
| archivePrefix={arXiv}, |
| primaryClass={cs.RO}, |
| url={https://arxiv.org/abs/2611.14488} |
| } |
| ``` |
