ContextWeave: A Real-World Workflow Benchmark

Memory is essential as language agents move from isolated tasks to long-horizon, stateful workflows, yet existing evaluations often reduce it to retrieval or question answering. We introduce ContextWeave, a longitudinal benchmark that evaluates whether recalled experience improves downstream agent performance in realistic office-work streams. ContextWeave reconstructs privacy-preserved, multi-month workflows of 14 participants into 1,005 executable tasks, including 568 core evaluation tasks, with instructions, containerized environments, trajectories, and task-specific rubrics. It measures workspace quality and alignment with participant-specific preferences, complemented by diagnostics of relevance, continuity, solvability, and robustness to misleading recall. Across six memory components under a fixed model, the strongest configuration raises Workspace Score from 68.08 to 78.20 and Preference Score from 41.50 to 70.60. With a fixed memory component, recall improves both outcomes for all five tested base models, although gains vary substantially. Our analysis shows that actionable, experience-rich memory supports workflow continuation and reduces redundant exploration more effectively than compact summaries, while it can also be more susceptible to misleading recall. These findings motivate memory systems that optimize not only retrieval relevance but also reliable use during execution.

HiMe: Hierarchical Embodied Memory for Long-Horizon Vision-Language-Action Control

Current Vision-Language-Action (VLA) models excel at robotic manipulation but often struggle with non-Markovian tasks requiring long-term memory and reasoning due to their reliance on immediate observations. Existing solutions face a ''frequency-competence paradox,'' where stronger reasoning models are too slow for real-time control, while faster models lack sufficient reasoning capabilities. To resolve this architectural misalignment, we propose HiMe, a Hierarchical Embodied Memory framework that decouples embodied intelligence into a high-frequency Executor for execution, a Sentry for working memory, and a Planner for long-term strategy. We also introduce a dynamic knowledge system based on cross-modal semantic schemas and active management mechanisms, allowing robots to maintain memory plasticity through ''Add, Update, and Delete'' operations. This hierarchical design effectively balances the conflict between real-time execution and slow thinking planning, significantly improving success rates in long-horizon tasks. Experiments demonstrate that this approach not only outperforms flat memory baselines but also exhibits the novel ability to self-correct its internal knowledge based on human preferences.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data

Vision-language models (VLMs) are powerful general-purpose reasoners, yet converting them into robot control policies (VLAs) is surprisingly difficult. The root cause is a two-fold gap: VLMs are trained on internet-scale images with language-understanding objectives, while VLAs must perceive robot scenes and predict motor actions. Fine-tuning a VLM directly on robot action data forces the model to cross both gaps at once -- the learning curve is steep and the rich generalizations learned during pretraining tend to degrade rather than transfer. We argue that this gap can be bridged gradually with the right intermediate data. We introduce \emph{embodied trajectory-coupled (ETC) data} -- vision-language supervision derived from the same robot scenes and trajectories used for action learning. Because ETC data shares the visual context of robot operation while retaining familiar language-understanding objectives, it provides a natural stepping stone between VLM pretraining and VLA fine-tuning. Building on this, we design a three-stage training recipe. Distribution Bridging first adapts the VLM to embodied visual-language semantics. Objective Bridging then gradually shifts the model toward action prediction while preserving the acquired representations. Retentive Adaptation finally specializes the policy to the target deployment domain. We further show that mixing task-relevant out-of-distribution ETC data with a small amount of action data enables the model to generalize to novel visual-language conditions without requiring additional robot demonstrations. Simulation and real-robot experiments confirm that this gradual bridging strategy is the key to transferring VLM generalization into robust, deployable robot policies.

Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillation

Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories. However, their prolonged inference times hinder high-frequency control tasks requiring real-time feedback. While consistency distillation (CD) accelerates inference, it introduces errors that compromise action quality. To address these limitations, we propose the Score and Distribution Matching Policy (SDM Policy), which transforms diffusion-based policies into single-step generators through a two-stage optimization process: score matching ensures alignment with true action distributions, and distribution matching minimizes KL divergence for consistency. A dual-teacher mechanism integrates a frozen teacher for stability and an unfrozen teacher for adversarial training, enhancing robustness and alignment with target distributions. Evaluated on a 57-task simulation benchmark, SDM Policy achieves a 6x inference speedup while having state-of-the-art action quality, providing an efficient and reliable framework for high-frequency robotic tasks.