{"id":"https://openalex.org/W7128632251","doi":"https://doi.org/10.48550/arxiv.2602.09255","title":"STaR: Scalable Task-Conditioned Retrieval for Long-Horizon Multimodal Robot Memory","display_name":"STaR: Scalable Task-Conditioned Retrieval for Long-Horizon Multimodal Robot Memory","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128632251","doi":"https://doi.org/10.48550/arxiv.2602.09255"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.09255","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026571249","display_name":"Munan Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yuan, Mingfeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125629471","display_name":"Hao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009693598","display_name":"Mahan Mohammadi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohammadi, Mahan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081083402","display_name":"Runhao Li","orcid":"https://orcid.org/0009-0002-1706-8741"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Runhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125657930","display_name":"Jinjun Shan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shan, Jinjun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125676706","display_name":"Steven L. Waslander","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Waslander, Steven L.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5026571249"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8215000033378601,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8215000033378601,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.06880000233650208,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.025599999353289604,"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/scalability","display_name":"Scalability","score":0.6592000126838684},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5932999849319458},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5329999923706055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5142999887466431},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.5077000260353088},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.48190000653266907},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.47699999809265137},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4740999937057495}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7505999803543091},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6592000126838684},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5932999849319458},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5329999923706055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5142999887466431},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.5077000260353088},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.48190000653266907},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.47699999809265137},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4740999937057495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4586000144481659},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.3714999854564667},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3517000079154968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34200000762939453},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.3176000118255615},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31709998846054077},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2921999990940094},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.28940001130104065},{"id":"https://openalex.org/C12186640","wikidata":"https://www.wikidata.org/wiki/Q6815743","display_name":"Memory model","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2655999958515167},{"id":"https://openalex.org/C135641252","wikidata":"https://www.wikidata.org/wiki/Q738567","display_name":"Multimodal interaction","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.26170000433921814},{"id":"https://openalex.org/C133875982","wikidata":"https://www.wikidata.org/wiki/Q764810","display_name":"Shared memory","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.09255","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.09255","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.09255","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.09255","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"are":[2],"often":[3],"deployed":[4],"over":[5,51],"long":[6,190],"durations":[7],"in":[8,182],"diverse":[9],"open,":[10],"dynamic":[11,94],"scenes,":[12],"including":[13],"indoor":[14,184],"setting":[15],"such":[16,25],"as":[17,26],"warehouses":[18],"and":[19,22,28,49,93,96,136,167,185,194],"manufacturing":[20],"facilities,":[21],"outdoor":[23,186],"settings":[24],"agricultural":[27],"roadway":[29],"operations.":[30],"A":[31],"core":[32],"challenge":[33],"is":[34],"to":[35,81,111],"build":[36],"a":[37,74,99,116,138,177],"scalable":[38],"long-horizon":[39],"memory":[40,78,115],"that":[41,71,79],"supports":[42],"an":[43,67],"agentic":[44,68],"workflow":[45],"for":[46,62,124],"planning,":[47],"retrieval,":[48],"reasoning":[50,69],"open-ended":[52],"instructions":[53],"at":[54],"variable":[55],"granularity,":[56],"while":[57,84],"producing":[58],"precise,":[59],"actionable":[60],"answers":[61],"navigation.":[63],"We":[64,127,172],"present":[65],"STaR,":[66],"framework":[70],"(i)":[72],"constructs":[73],"task-agnostic,":[75],"multimodal":[76],"long-term":[77,114],"generalizes":[80],"unseen":[82],"queries":[83],"preserving":[85],"fine-grained":[86],"environmental":[87],"semantics":[88],"(object":[89],"attributes,":[90],"spatial":[91,170],"relations,":[92],"events),":[95],"(ii)":[97],"introduces":[98],"Scalable":[100],"Task":[101],"Conditioned":[102],"Retrieval":[103],"algorithm":[104],"based":[105],"on":[106,130,176],"the":[107,155],"Information":[108],"Bottleneck":[109],"principle":[110],"extract":[112],"from":[113],"compact,":[117],"non-redundant,":[118],"information-rich":[119],"set":[120],"of":[121],"candidate":[122],"memories":[123],"contextual":[125,152],"reasoning.":[126,153],"evaluate":[128],"STaR":[129,158,175],"NaVQA":[131],"(mixed":[132],"indoor/outdoor":[133],"campus":[134],"scenes)":[135],"WH-VQA,":[137],"customized":[139],"warehouse":[140],"benchmark":[141],"with":[142,148],"many":[143],"visually":[144],"similar":[145],"objects":[146],"built":[147],"Isaac":[149],"Sim,":[150],"emphasizing":[151],"Across":[154],"two":[156],"datasets,":[157],"consistently":[159],"outperforms":[160],"strong":[161],"baselines,":[162],"achieving":[163],"higher":[164],"success":[165],"rates":[166],"markedly":[168],"lower":[169],"error.":[171],"further":[173],"deploy":[174],"real":[178],"Husky":[179],"wheeled":[180],"robot":[181],"both":[183],"environments,":[187],"demonstrating":[188],"robust":[189],"horizon":[191],"reasoning,":[192],"scalability,":[193],"practical":[195],"utility.":[196],"Project":[197],"Website:":[198],"https://trailab.github.io/STaR-website/":[199]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-02-12T00:00:00"}