SOMA equips VLAs with a persistent spatial memory from movable-camera multi-view scans to enable successful manipulation of initially invisible objects in real-world tasks.
SimEMA” denotes the normal EMA update (Chen et al., 2020),st kj denotes semantic similarity, gt kj denotes dynamic fusion scores,
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Spatial Memory for Out-of-Vision Manipulation in Vision-Language-Action
SOMA equips VLAs with a persistent spatial memory from movable-camera multi-view scans to enable successful manipulation of initially invisible objects in real-world tasks.