{"id":"https://openalex.org/W7167640155","doi":"https://doi.org/10.48550/arxiv.2607.03449","title":"HiMe: Hierarchical Embodied Memory for Long-Horizon Vision-Language-Action Control","display_name":"HiMe: Hierarchical Embodied Memory for Long-Horizon Vision-Language-Action Control","publication_year":2026,"publication_date":"2026-07-03","ids":{"openalex":"https://openalex.org/W7167640155","doi":"https://doi.org/10.48550/arxiv.2607.03449"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.03449","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.03449","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.2607.03449","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030076607","display_name":"Li Ji","orcid":"https://orcid.org/0000-0002-8499-1678"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Li","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017974335","display_name":"Siyin Wang","orcid":"https://orcid.org/0009-0008-7992-2476"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Siyin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046216363","display_name":"Pengfang Qian","orcid":"https://orcid.org/0000-0003-3086-4697"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Pengfang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140155227","display_name":"Xiaopeng Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Xiaopeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004542746","display_name":"Yihai Tian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Yihai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140195073","display_name":"Zhaoye Fei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fei, Zhaoye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140216831","display_name":"Jingjing Gong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gong, Jingjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140187214","display_name":"Xipeng Qiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiu, Xipeng","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":0.6514000296592712,"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":0.6514000296592712,"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":0.06369999796152115,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.05270000174641609,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/embodied-cognition","display_name":"Embodied cognition","score":0.7754999995231628},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5548999905586243},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5365999937057495},{"id":"https://openalex.org/keywords/executor","display_name":"Executor","score":0.534600019454956},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5246999859809875},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.5006999969482422},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4587000012397766},{"id":"https://openalex.org/keywords/artificial-general-intelligence","display_name":"Artificial general intelligence","score":0.4512999951839447},{"id":"https://openalex.org/keywords/working-memory","display_name":"Working memory","score":0.4377000033855438}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7883999943733215},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7754999995231628},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5548999905586243},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5365999937057495},{"id":"https://openalex.org/C180591056","wikidata":"https://www.wikidata.org/wiki/Q654437","display_name":"Executor","level":2,"score":0.534600019454956},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5246999859809875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5221999883651733},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.5006999969482422},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4587000012397766},{"id":"https://openalex.org/C162027153","wikidata":"https://www.wikidata.org/wiki/Q2264109","display_name":"Artificial general intelligence","level":2,"score":0.4512999951839447},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44690001010894775},{"id":"https://openalex.org/C21963081","wikidata":"https://www.wikidata.org/wiki/Q11337567","display_name":"Working memory","level":3,"score":0.4377000033855438},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.3806000053882599},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.3240000009536743},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.322299987077713},{"id":"https://openalex.org/C12186640","wikidata":"https://www.wikidata.org/wiki/Q6815743","display_name":"Memory model","level":3,"score":0.3131999969482422},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.29899999499320984},{"id":"https://openalex.org/C157170001","wikidata":"https://www.wikidata.org/wiki/Q4781507","display_name":"Applications of artificial intelligence","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.2678999900817871},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C88576662","wikidata":"https://www.wikidata.org/wiki/Q18646","display_name":"Episodic memory","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C82687282","wikidata":"https://www.wikidata.org/wiki/Q66221","display_name":"Auxiliary memory","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25600001215934753},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.2524000108242035},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.03449","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.03449","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.2607.03449","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.03449","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Current":[0],"Vision-Language-Action":[1],"(VLA)":[2],"models":[3,35,44],"excel":[4],"at":[5],"robotic":[6],"manipulation":[7],"but":[8,143],"often":[9],"struggle":[10],"with":[11],"non-Markovian":[12],"tasks":[13],"requiring":[14],"long-term":[15,81],"memory":[16,103,141],"and":[17,77,95,108,121],"reasoning":[18,34,47],"due":[19],"to":[20,101,149],"their":[21],"reliance":[22],"on":[23,91,155],"immediate":[24],"observations.":[25],"Existing":[26],"solutions":[27],"face":[28],"a":[29,57,67,72,78,86],"''frequency-competence":[30],"paradox,''":[31],"where":[32],"stronger":[33],"are":[36],"too":[37],"slow":[38,122],"for":[39,70,74,80],"real-time":[40,119],"control,":[41],"while":[42],"faster":[43],"lack":[45],"sufficient":[46],"capabilities.":[48],"To":[49],"resolve":[50],"this":[51,135],"architectural":[52],"misalignment,":[53],"we":[54],"propose":[55],"HiMe,":[56],"Hierarchical":[58],"Embodied":[59],"Memory":[60],"framework":[61],"that":[62,134],"decouples":[63],"embodied":[64],"intelligence":[65],"into":[66],"high-frequency":[68],"Executor":[69],"execution,":[71],"Sentry":[73],"working":[75],"memory,":[76],"Planner":[79],"strategy.":[82],"We":[83],"also":[84,144],"introduce":[85],"dynamic":[87],"knowledge":[88,153],"system":[89],"based":[90,154],"cross-modal":[92],"semantic":[93],"schemas":[94],"active":[96],"management":[97],"mechanisms,":[98],"allowing":[99],"robots":[100],"maintain":[102],"plasticity":[104],"through":[105],"''Add,":[106],"Update,":[107],"Delete''":[109],"operations.":[110],"This":[111],"hierarchical":[112],"design":[113],"effectively":[114],"balances":[115],"the":[116,146],"conflict":[117],"between":[118],"execution":[120],"thinking":[123],"planning,":[124],"significantly":[125],"improving":[126],"success":[127],"rates":[128],"in":[129],"long-horizon":[130],"tasks.":[131],"Experiments":[132],"demonstrate":[133],"approach":[136],"not":[137],"only":[138],"outperforms":[139],"flat":[140],"baselines":[142],"exhibits":[145],"novel":[147],"ability":[148],"self-correct":[150],"its":[151],"internal":[152],"human":[156],"preferences.":[157]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-08T00:00:00"}