OCC4M: Object-Centric 4D Memory for Spatiotemporal Reasoning in Long-Horizon Manipulation

arXiv:2609.28798 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Comments: 13 pages, 11 figures, 6 tables. Supplementary videos: https://occ4m-sup.github.io/occ4m-supplementary/

Project page: https://occ4m-sup.github.io/occ4m-supplementary

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Grounding — 14× in this paper · explained in 3 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Calibration — 5× in this paper · explained in 7 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Error Decomposition — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 13 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• Memory-based control with recurrent neural networks
• Gated Memory Policy: In-Context Memorization and Adaptation
• Gemini Robotics: Bringing AI into the Physical World
• Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• 3D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning
• Compose by Focus: Scene Graph-based Atomic Skills

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