{"id":"https://openalex.org/W4415524120","doi":"https://doi.org/10.1109/humanoids65713.2025.11203198","title":"RT-Cache: Training-Free Retrieval for Real-Time Manipulation","display_name":"RT-Cache: Training-Free Retrieval for Real-Time Manipulation","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524120","doi":"https://doi.org/10.1109/humanoids65713.2025.11203198"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Owen Kwon","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Owen Kwon","raw_affiliation_strings":["Carnegie Mellon University,Department of Biomedical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Biomedical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033456960","display_name":"Abraham George","orcid":"https://orcid.org/0000-0002-1961-1587"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abraham George","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033869428","display_name":"Alison Bartsch","orcid":"https://orcid.org/0009-0004-9000-2807"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alison Bartsch","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008745801","display_name":"Amir Barati Farimani","orcid":"https://orcid.org/0000-0002-2952-8576"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amir Barati Farimani","raw_affiliation_strings":["Carnegie Mellon University,Department of Biomedical Engineering,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Biomedical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34459839,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6995000243186951},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6171000003814697},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5979999899864197},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5217000246047974},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4812999963760376},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.45980000495910645},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4284999966621399},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4032999873161316},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39160001277923584}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.810699999332428},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6995000243186951},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6171000003814697},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5979999899864197},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5217000246047974},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4812999963760376},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.45980000495910645},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4284999966621399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4203000068664551},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4032999873161316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39160001277923584},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3847000002861023},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.3580999970436096},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.3443000018596649},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2842000126838684},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27230000495910645},{"id":"https://openalex.org/C61114434","wikidata":"https://www.wikidata.org/wiki/Q7144649","display_name":"Path expression","level":3,"score":0.2703999876976013},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26089999079704285},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2603999972343445},{"id":"https://openalex.org/C551230270","wikidata":"https://www.wikidata.org/wiki/Q4368942","display_name":"Data retrieval","level":2,"score":0.26030001044273376}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2560647685","https://openalex.org/W3214952050","https://openalex.org/W4383066088","https://openalex.org/W4385430535","https://openalex.org/W4390873312","https://openalex.org/W4401414422","https://openalex.org/W4401414530","https://openalex.org/W4401415287","https://openalex.org/W4401417251","https://openalex.org/W4405784923","https://openalex.org/W4413925006","https://openalex.org/W4414050921","https://openalex.org/W4414079054"],"related_works":[],"abstract_inverted_index":{"Real":[0],"robots":[1],"are":[2],"expected":[3],"to":[4,54,77,130,150],"repeat":[5],"the":[6,51],"same":[7],"behavior":[8],"in":[9,41,119],"new":[10,15],"environments":[11],"with":[12,163],"very":[13],"little":[14],"data,":[16],"yet":[17],"modern":[18],"controllers":[19],"either":[20],"incur":[21],"heavy":[22],"per-step":[23,61],"inference":[24],"or":[25],"require":[26],"deployment-time":[27],"fine-tuning.":[28,137],"We":[29],"propose":[30],"RT-Cache,":[31],"a":[32,42,123,131,146,155],"training-free":[33],"retrieval-as-control":[34],"pipeline":[35],"that":[36],"caches":[37],"diverse":[38],"image-action":[39],"trajectories":[40],"unified":[43],"vector":[44],"memory":[45],"and,":[46],"at":[47,70],"test":[48],"time,":[49],"embeds":[50],"current":[52],"frame":[53],"retrieve":[55],"and":[56,79,89,97,112,122,154,160],"replay":[57],"multi-step":[58],"snippets,":[59],"replacing":[60],"model":[62],"calls.":[63],"A":[64],"hierarchical":[65],"search":[66],"keeps":[67],"lookups":[68],"sub-second":[69],"million":[71],"scale,":[72],"shifting":[73],"cost":[74],"from":[75],"compute":[76],"storage":[78],"enabling":[80],"real-time":[81],"control":[82],"on":[83],"modest":[84],"GPUs.":[85],"Across":[86],"real-robot":[87],"tasks":[88],"large":[90],"open":[91],"logs,":[92],"RT-Cache":[93,138],"achieves":[94],"higher":[95,110],"success":[96,111],"lower":[98],"completion":[99],"time":[100],"than":[101],"strong":[102],"retrieval":[103],"baselines":[104],"(approximately":[105],"<tex":[106,113],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[107,114],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$2":[108],"\\times$</tex>":[109],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\sim":[115],"30":[116],"\\%$</tex>":[117],"faster":[118],"our":[120],"settings),":[121],"single-episode":[124],"anchoring":[125],"study":[126],"shows":[127],"immediate":[128],"adaptation":[129],"more":[132],"complex,":[133],"contact-rich":[134],"task":[135],"without":[136],"turns":[139],"experience":[140],"into":[141],"an":[142],"append-only":[143],"memory,":[144],"offering":[145],"simple,":[147],"scalable":[148],"path":[149],"few-shot":[151],"deployment":[152],"today":[153],"foundation":[156],"for":[157],"multimodal":[158],"keys":[159],"optional":[161],"integration":[162],"high-level":[164],"policies.":[165],"Project":[166],"page:":[167],"https://rt-cache.github.io/.":[168]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-24T00:00:00"}
