{"id":"https://openalex.org/W7160889634","doi":"https://doi.org/10.48550/arxiv.2605.10921","title":"RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark","display_name":"RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark","publication_year":2026,"publication_date":"2026-05-11","ids":{"openalex":"https://openalex.org/W7160889634","doi":"https://doi.org/10.48550/arxiv.2605.10921"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.10921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.10921","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111348803","display_name":"Huashuo Lei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei, Huashuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135948412","display_name":"Wenxuan Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Wenxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135979797","display_name":"Huarui Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Huarui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123963053","display_name":"Jieyuan Pei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pei, Jieyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135994320","display_name":"Jiayi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Jiayi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052150026","display_name":"Haodong Yan","orcid":"https://orcid.org/0009-0004-7401-5544"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Haodong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135929456","display_name":"Han Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Han","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135997911","display_name":"Pengxiang Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Pengxiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135909826","display_name":"Zhipeng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zhipeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135964216","display_name":"Lida Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Lida","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135996849","display_name":"Donglin Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Donglin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135920382","display_name":"Yan Qing Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135938379","display_name":"Haoang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.15230000019073486,"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":0.15230000019073486,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.11800000071525574,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.08009999990463257,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7246999740600586},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6869999766349792},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5712000131607056},{"id":"https://openalex.org/keywords/coding","display_name":"Coding (social sciences)","score":0.5185999870300293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4912000000476837},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.43970000743865967},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4242999851703644}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8151000142097473},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7246999740600586},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6869999766349792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5934000015258789},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5712000131607056},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.5185999870300293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.43970000743865967},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4242999851703644},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.398499995470047},{"id":"https://openalex.org/C12186640","wikidata":"https://www.wikidata.org/wiki/Q6815743","display_name":"Memory model","level":3,"score":0.3610000014305115},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3587000072002411},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3540000021457672},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C176649486","wikidata":"https://www.wikidata.org/wiki/Q2308807","display_name":"Memory management","level":3,"score":0.3131999969482422},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3012999892234802},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2980000078678131},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.2662999927997589},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.10921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.10921","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10921","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Memory":[0],"is":[1],"a":[2,58,83,121,126,131,141],"critical":[3],"component":[4],"of":[5,61,75],"robotic":[6,27],"intelligence,":[7],"as":[8],"robots":[9],"must":[10],"rely":[11],"on":[12,153],"past":[13],"observations":[14],"and":[15,41,44,73,89,98,105,136,139,161,169],"actions":[16],"to":[17,47,87,145,148],"accomplish":[18],"long-horizon":[19],"tasks":[20,113],"in":[21,124],"partially":[22],"observable":[23],"environments.":[24],"However,":[25],"existing":[26],"memory":[28,35,112,132,165,174],"benchmarks":[29],"still":[30],"lack":[31],"multimodal":[32],"annotations":[33],"for":[34,172],"formation,":[36],"provide":[37],"limited":[38],"task":[39,72,149],"coverage":[40],"structural":[42],"complexity,":[43],"remain":[45],"restricted":[46],"simulation":[48],"without":[49],"real-world":[50,111],"evaluation.":[51,116],"We":[52,117],"address":[53],"this":[54],"gap":[55],"with":[56,64,134],"RoboMemArena,":[57],"large-scale":[59],"benchmark":[60],"26":[62],"tasks,":[63],"average":[65],"trajectory":[66],"lengths":[67],"exceeding":[68],"1,000":[69],"steps":[70],"per":[71],"68.9%":[74],"subtasks":[76],"being":[77],"memory-dependent.":[78],"The":[79],"generation":[80],"pipeline":[81],"leverages":[82],"vision-language":[84],"model":[85,167],"(VLM)":[86],"design":[88,119],"compose":[90],"subtasks,":[91],"generates":[92],"full":[93],"trajectories":[94],"through":[95],"atomic":[96],"functions,":[97],"provides":[99,162],"memory-related":[100],"annotations,":[101,108],"including":[102],"subtask":[103],"instructions":[104],"native":[106],"keyframe":[107,137],"while":[109],"paired":[110],"support":[114],"physical":[115],"further":[118],"PrediMem,":[120],"dual-system":[122],"VLA":[123],"which":[125],"high-level":[127],"VLM":[128],"planner":[129],"manages":[130],"bank":[133],"recent":[135],"buffers":[138],"uses":[140],"predictive":[142],"coding":[143],"head":[144],"improve":[146],"sensitivity":[147],"dynamics.":[150],"Extensive":[151],"experiments":[152],"RoboMemArena":[154],"show":[155],"that":[156],"PrediMem":[157],"outperforms":[158],"all":[159],"baselines":[160],"insights":[163],"into":[164],"management,":[166],"architecture,":[168],"scaling":[170],"laws":[171],"complex":[173],"systems.":[175]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-13T00:00:00"}
