{"paper":{"title":"Notes-to-Self: Scratchpad Augmented VLAs for Memory Dependent Manipulation Tasks","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Apratim Bhattacharyya, Daniel Dijkman, Roland Memisevic, Sanjay Haresh","submitted_at":"2026-02-24T15:30:55Z","abstract_excerpt":"Many dexterous manipulation tasks are non-markovian in nature, yet little attention has been paid to this fact in the recent upsurge of the vision-language-action (VLA) paradigm. Although they are successful in bringing internet-scale semantic understanding to robotics, existing VLAs are primarily \"stateless\" and struggle with memory-dependent long horizon tasks. In this work, we explore a way to impart both spatial and temporal memory to a VLA by incorporating a language scratchpad. The scratchpad makes it possible to memorize task-specific information, such as object positions, and it allows"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.21013","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2602.21013/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}