イベント駆動型メモリ更新による履歴依存マニピュレーション

原文アブストラクト

History-dependent robotic manipulation requires task context and interaction history, as the current observation alone is insufficient to determine the next action. Hierarchical frameworks use task memory for high-level subgoal reasoning and low-level policies for execution. However, memory updates require accurate completion assessment: similar observations may correspond to different execution phases, and prematurely recording completion can mislead subsequent subgoal reasoning. We present EventSync, a hierarchical framework that coordinates task reasoning and action execution through event-driven memory updates. A vision-language model generates subgoals from task plans and interaction history, while a vision-language-action model executes them. A lightweight Event Monitor combines visual observations with end-effector trajectories to determine whether the current subgoal is complete. The framework records the current subgoal in its completed-subgoal history and triggers subsequent reasoning only after obtaining completion evidence. With visual history in the executor, EventSync achieves 64.5% overall success on RoboMME, exceeding the best baseline reported in the benchmark by 20.0 percentage points. Further analysis shows that this update mechanism helps build a reliable completed-subgoal history. Experiments on four real-robot tasks with different memory requirements validate the framework's effectiveness in real-world robotic manipulation.