GMP selectively activates and represents memory via a gate and lightweight cross-attention, yielding 30.1% higher success on non-Markovian robotic tasks while staying competitive on Markovian ones.
Iterative residual policy for goal-conditioned dynamic manipulation of deformable objects
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Gated Memory Policy
GMP selectively activates and represents memory via a gate and lightweight cross-attention, yielding 30.1% higher success on non-Markovian robotic tasks while staying competitive on Markovian ones.