{"id":"https://openalex.org/W7161750581","doi":"https://doi.org/10.48550/arxiv.2605.18556","title":"Key-Gram: Extensible World Knowledge for Embodied Manipulation","display_name":"Key-Gram: Extensible World Knowledge for Embodied Manipulation","publication_year":2026,"publication_date":"2026-05-18","ids":{"openalex":"https://openalex.org/W7161750581","doi":"https://doi.org/10.48550/arxiv.2605.18556"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.18556","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18556","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":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.2605.18556","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136460404","display_name":"Jingjing Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Jingjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136468949","display_name":"Siyuan Li","orcid":"https://orcid.org/0009-0003-8698-7685"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Siyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029172080","display_name":"Botao Ren","orcid":"https://orcid.org/0009-0001-1646-9183"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Botao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136486112","display_name":"Zhidong Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deng, Zhidong","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":0.8683000206947327,"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":0.8683000206947327,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0272000003606081,"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/T11431","display_name":"Action Observation and Synchronization","score":0.01899999938905239,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.7573999762535095},{"id":"https://openalex.org/keywords/visual-reasoning","display_name":"Visual reasoning","score":0.48590001463890076},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.47540000081062317},{"id":"https://openalex.org/keywords/extensibility","display_name":"Extensibility","score":0.4569999873638153},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.3887999951839447},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3431999981403351},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.3346000015735626},{"id":"https://openalex.org/keywords/scratch","display_name":"Scratch","score":0.3278999924659729},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.32659998536109924}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8406999707221985},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7573999762535095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49559998512268066},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.48590001463890076},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.47540000081062317},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.4569999873638153},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41920000314712524},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3546999990940094},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3416999876499176},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3346000015735626},{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.3125},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2754000127315521},{"id":"https://openalex.org/C82687282","wikidata":"https://www.wikidata.org/wiki/Q66221","display_name":"Auxiliary memory","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C134752490","wikidata":"https://www.wikidata.org/wiki/Q374182","display_name":"Logical consequence","level":2,"score":0.26170000433921814}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.18556","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18556","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.18556","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.18556","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.6372496485710144,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Embodied":[0],"control":[1],"increasingly":[2],"requires":[3],"models":[4,22],"to":[5,38,112,117,146],"follow":[6],"compositional":[7,209],"language":[8],"instructions":[9],"while":[10,123],"reasoning":[11,65,119],"over":[12],"dynamic":[13],"visual":[14,28,118],"states.":[15],"However,":[16],"current":[17],"vision-language-action":[18],"policies":[19],"and":[20,41,91,103,120,161,170,188,204,212],"world-action":[21],"often":[23],"couple":[24],"linguistic":[25,85,199],"knowledge":[26,43,62,126],"with":[27,173],"computation":[29],"in":[30,129],"a":[31,55,73],"shared":[32],"backbone":[33,47,111],"or":[34],"conditioning":[35],"pathway,":[36],"leading":[37],"modality":[39],"competition":[40],"making":[42],"extension":[44],"dependent":[45],"on":[46,153,179,182,190],"updates.":[48],"In":[49],"this":[50],"paper,":[51],"we":[52],"introduce":[53],"Key-Gram,":[54],"conditional-memory":[56],"framework":[57],"that":[58,76,197],"separates":[59],"language-derived":[60],"world":[61],"from":[63],"visual-state":[64],"for":[66,207],"embodied":[67],"control.":[68],"At":[69],"its":[70,114,147],"core":[71],"is":[72,127],"memory":[74,136,155,200],"module":[75],"decomposes":[77],"an":[78,130,202],"instruction":[79,125],"into":[80,96],"task-specific":[81],"key-grams,":[82],"retrieves":[83],"static":[84],"priors":[86],"through":[87,100],"deterministic":[88],"hashed":[89],"lookup,":[90],"injects":[92],"the":[93,110],"retrieved":[94],"entries":[95],"selected":[97],"hidden":[98],"layers":[99],"context-aware":[101],"gating":[102],"lightweight":[104],"convolutional":[105],"fusion.":[106],"This":[107],"design":[108],"allows":[109],"devote":[113],"main":[115],"capacity":[116],"action":[121],"inference,":[122],"reusable":[124],"stored":[128],"extensible":[131,205],"external":[132],"memory.":[133],"The":[134],"logical":[135],"table":[137],"can":[138],"be":[139],"conveniently":[140],"partitioned":[141],"during":[142,156],"training":[143],"and,":[144],"due":[145],"$O(1)$":[148],"lookup":[149],"pattern,":[150],"efficiently":[151],"placed":[152],"host":[154],"inference.":[157],"Across":[158],"RoboTwin2.0,":[159,180],"LIBERO/LIBERO-Plus,":[160],"real-world":[162,191,213],"dual-arm":[163],"manipulation,":[164],"Key-Gram":[165],"consistently":[166],"improves":[167],"both":[168],"$\u03c0_{0}$":[169],"$\u03c0_{0.5}$":[171],"backbones,":[172],"average":[174],"relative":[175],"gains":[176],"of":[177],"$29.5\\%/9.9\\%$":[178],"$35.8\\%/4.5\\%$":[181],"LIBERO-Plus":[183],"transfer":[184],"without":[185],"target-domain":[186],"fine-tuning,":[187],"$15.4\\%/8.1\\%$":[189],"long-horizon":[192],"tasks.":[193],"These":[194],"results":[195],"demonstrate":[196],"externalized":[198],"provides":[201],"effective":[203],"mechanism":[206],"improving":[208],"grounding,":[210],"transfer,":[211],"manipulation.":[214]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-20T00:00:00"}
