---
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}
}
```