ECHO organizes VLA experiences into a hierarchical memory tree in hyperbolic space via autoencoder and entailment constraints, delivering a 12.8% success-rate gain on LIBERO-Long over the pi0 baseline.
Continuous hierarchical representations with poincaré variational auto-encoders.Advances in neural information processing systems, 32
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ECHO: Continuous Hierarchical Memory for Vision-Language-Action Models
ECHO organizes VLA experiences into a hierarchical memory tree in hyperbolic space via autoencoder and entailment constraints, delivering a 12.8% success-rate gain on LIBERO-Long over the pi0 baseline.