🧠 Echo-Memory

A Controlled Study of Memory in Action World Models

Echo Team @ Joy Future Academy, JD

> **Core question.** When a generated scene must leave and later return, which kind of memory helps an action world model preserve **identity**, **layout**, and **viewpoint** instead of drifting into a plausible but different world?

Paper teaser. Echo-Memory studies how Context, Compression, Spatial, and State-Space memory carry historical observations across chunk-wise action-world generation and revisit trajectories.

**Echo-Memory** is the release code for the paper's controlled memory study. It keeps the shared **Wan video backbone**, memory modules, training recipes, data utilities, open-domain revisit assets, and public replay/static evaluation suites. **What is included:** reproducible memory rows, paper-aligned ablation scripts, GT replay, in-domain revisit, open-domain revisit, dynamic SpatialVID training/inference recipes, visual evidence frames, and representative videos. **What is intentionally removed:** private benchmark launchers, cluster submit files, logs, generated outputs, and machine-local paths. ## News **[2026/06/13]** SpatialVID support added: dynamic training/inference recipes, 5-second first-chunk replay previews, and dynamic eval marked as TODO. **[2026/06/06]** Echo-Memory released: paper on [arXiv](https://arxiv.org/abs/2606.09803) ([PDF](https://arxiv.org/pdf/2606.09803)), [project page](https://echo-team-joy-future-academy-jd.github.io/Echo-Memory/), public code, replay/revisit eval assets, and paper baseline checkpoints on [Echo-Team/Echo-Memory](https://huggingface.co/Echo-Team/Echo-Memory). ## Roadmap **Models** - [x] **Wan 2.1 1.3B** backbone and public training recipes - [x] Four memory families — **Context**, **Compression**, **Spatial**, **State-Space** - [x] **Dynamic training pool** — SpatialVID subset export & settings ([doc](doc/dynamic_dataset_preprocessing.md)) - [x] **Paper checkpoints** — [Echo-Team/Echo-Memory](https://huggingface.co/Echo-Team/Echo-Memory) on Hugging Face ([doc](doc/checkpoints.md)) - [ ] **Wan 2.2** and multi-scale **5B / 14B** backbones **Eval** - [ ] Dynamic evaluation beyond static replay/revisit - [ ] More revisit probes and scoring presets ## Authors and Release Statement This repository is released by **Echo Team @ Joy Future Academy, JD**. The code and evaluation assets are intended to support reproducible memory-mechanism comparisons for action-conditioned video world models. If you use this repository, please cite the Echo-Memory paper or acknowledge the Echo Team release. ## Visual Assets Included This release directly includes paper-facing visual assets. Each example is a small diagnostic: > **First frame → leave the view → revisit tail.** > The first frame fixes the world state, the trajectory moves away, and the revisit tail shows whether memory brings the model back to the same object, pose, background, and camera geometry. ```text assets/opendomain_revisit/ Held-out first-frame sources for the open-domain toy-bear revisit probe assets/paper_cases/ Paper teaser and memory overview figures assets/readme_previews/ Low-resolution animated GIF previews for direct README playback ``` ### 🧩 Memory Context List

Family	Memory row	What it tests
Floor	No memory / I2V floor	Re-generate from the first frame only; a lower bound for revisit consistency.
Raw context	Context K=1 / K=5 / K=20	Whether simply keeping more recent frames is enough to prevent long-horizon drift.
Compression	Compression r = 4	Whether a compact temporal representation can retain useful history without raw-frame growth.
Spatial	Spatial Memory	Whether explicit spatial read/write state improves scene-layout recall.
State-space	Legacy Hybrid / Block-wise SSM	Whether recurrent state updates can stabilize revisits beyond short context windows.

Memory design matrix. The paper groups concrete variants by what is stored and how it is read back: raw context, compressed history, spatial state, or recurrent state-space memory. See [`doc/memory_mechanisms.md`](doc/memory_mechanisms.md) for the paper-row to implementation mapping.

> **Spatial Memory clarification.** The released results currently labeled > `spatial_mem` were produced by `SpatialGridMemory`, a time-averaged token-grid > baseline; it does not use depth, TSDF fusion, or a 3D point cloud. The new > geometry-grounded path is exposed separately as `geometry_spatial_mem` and > requires pre-rendered static geometry from depth + camera reconstruction. > Results from the token-grid row must not be attributed to the geometry-grounded > method in [arXiv:2506.05284](https://arxiv.org/abs/2506.05284).

Open-domain source 1	Open-domain source 2	Open-domain source 3	Open-domain source 4
Open-domain source 5	Open-domain source 6	Open-domain source 7	Open-domain source 8

### 🎬 Replay Video List **Representative replay videos** are shown as compressed README previews. These clips replay ground-truth trajectories with each memory mechanism, making it easier to compare **local fidelity**, **motion smoothness**, and whether the generated chunk stays anchored to earlier visual evidence. > **GitHub note:** the animated previews below are low-resolution GIFs for direct playback in the README. > The SpatialVID row uses the same selected training scene, first frame, prompt, and GT camera trajectory for a 5-second first-chunk replay across all six methods.

Static Replay
Context K=1	Context K=5	Compression r = 4	Spatial Memory	Legacy Hybrid	Block-wise SSM
SpatialVID Replay
Context K=1	Context K=5	Context K=20	Spatial Memory	Legacy Hybrid	Block-wise SSM

## Layout ```text doc/ Data pool download & preprocessing guides diffsynth/ Core model, pipeline, trainer utilities src/model_training/ Main training code and memory/context helpers src/data/ Dataset metadata construction utilities train/ Public training recipes inference/ Unified inference entrypoint and public recipes eval/v2/ Static consistency/basic GT replay eval; dynamic eval TODO eval/metrics/ Visual/basic capability metrics scripts/ Data construction and latent precompute scripts assets/opendomain_revisit/ Held-out first frames for open-domain revisit assets/paper_cases/ Paper teaser and memory overview figures assets/readme_previews/ README-friendly animated previews env/ Shared runtime helpers and action JSONs tests/ Focused checks for memory/context plumbing ``` ## Installation ```bash conda env create -f environment.yml conda activate echo-memory pip install -r requirements.txt ``` If your CUDA/Torch stack requires a custom `flash-attn` wheel, install it after the base environment is ready. Configure `accelerate` for your machine before multi-GPU training: ```bash accelerate config ``` ## Quick Start Evaluate a released checkpoint end-to-end in three steps: ```bash # 1. Download the Wan 2.1 base model huggingface-cli download Wan-AI/Wan2.1-T2V-1.3B --local-dir ./Wan2.1-T2V-1.3B # 2. Download, verify, and unpack the static in-domain eval pool (~340 GB) mkdir -p ./data huggingface-cli download Echo-Team/Echo-Memory-Data \ --repo-type dataset \ --include "static_pool_tar_parts/*" \ --local-dir ./data/echo-memory-data-release sha256sum -c ./data/echo-memory-data-release/static_pool_tar_parts/SHA256SUMS cat ./data/echo-memory-data-release/static_pool_tar_parts/echo-memory-data.tar.part-* | tar -xf - -C ./data export DATASET_BASE_PATH=./data/Context-as-Memory-Dataset # 3. Download a checkpoint and run evaluation huggingface-cli download Echo-Team/Echo-Memory context_k1/epoch-0.safetensors --local-dir ./ckpts export WAN_BASE_MODEL=/threed-code/yorenchen/models/Wan2.1-T2V-1.3B export PYTHONPATH=$PWD:${PYTHONPATH:-} export CKPT=./ckpts/context_k1/epoch-0.safetensors bash eval/v2/run_basic_replay_gt.sh # single-video quick check (~5 min) bash eval/v2/run_static_consistency_loop_and_revisit.sh # full paper eval bundle ``` Outputs are saved under `${CKPT_DIR}/evals_v2/`. See [Evaluation](#evaluation) for interpreting results. ## Required Paths Most scripts are path-portable and use environment variables: ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export DATASET_BASE_PATH=data/Context-as-Memory-Dataset # static in-domain pool (code default) export PYTHONPATH=$PWD:${PYTHONPATH:-} ``` `DATASET_BASE_PATH` points at whichever training pool you use (see [Data](#data)): - **Static in-domain pool** — default `data/Context-as-Memory-Dataset` if unset; [doc/dataset_preprocessing.md](doc/dataset_preprocessing.md) - **Dynamic training pool** — e.g. `data/dynamic-spatialvid-motion60/mixed`; [doc/dynamic_dataset_preprocessing.md](doc/dynamic_dataset_preprocessing.md) `WAN_BASE_MODEL` should contain `diffusion_pytorch_model.safetensors`, `models_t5_umt5-xxl-enc-bf16.pth`, and `Wan2.1_VAE.pth`. ## Checkpoints Paper-aligned **epoch-0** fine-tunes (Wan 2.1 1.3B, **30,000 steps**): **[Echo-Team/Echo-Memory](https://huggingface.co/Echo-Team/Echo-Memory)** · full table & usage → [doc/checkpoints.md](doc/checkpoints.md) | Family | Paper row | HF path | Steps | | --- | --- | --- | ---: | | Raw context | Context K=1 | [`context_k1/epoch-0.safetensors`](https://huggingface.co/Echo-Team/Echo-Memory/tree/main/context_k1) | 30,000 | | Raw context | Context K=20 | TODO | TODO | | Spatial | Spatial Memory | TODO | TODO | | State-space | Block-wise SSM | TODO | TODO | | State-space | Legacy Hybrid | TODO | TODO | Extended spatial rows are listed in [doc/checkpoints.md](doc/checkpoints.md); SSM weights are TODO. **Download & eval:** ```bash huggingface-cli download Echo-Team/Echo-Memory context_k1/epoch-0.safetensors --local-dir ./ckpts export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export DATASET_BASE_PATH=data/Context-as-Memory-Dataset export PYTHONPATH=$PWD:${PYTHONPATH:-} export CKPT=./ckpts/context_k1/epoch-0.safetensors bash eval/v2/run_static_consistency_loop_and_revisit.sh ``` Keep the row folder name in `CKPT` so `env/memory_baseline_runtime.py` can recover the matching memory profile. ## Inference Use the unified inference script for single-chunk generation with any memory family: ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export PYTHONPATH=$PWD:${PYTHONPATH:-} python inference/unified_inference.py \ --ckpt ./ckpts/context_k1/epoch-0.safetensors \ --prompt "A toy bear on a table, the camera rotates around it" \ --output_path output.mp4 ``` Switch memory type via `--memory_type` (default: `auto` — detects from checkpoint path): | `--memory_type` | Family | Description | |---|---|---| | `auto` | (detected) | Auto-detect from checkpoint path | | `no_memory` | Floor | No memory, I2V baseline | | `context_k1` / `context_k5` / `context_k20` | Raw context | 1 / 5 / 20 context frames | | `framepack_weight` | Compression | FramePack temporal decay reweighting | | `framepack_len_r2` / `framepack_len_r4` | Compression | FramePack length compression ratio 2 / 4 | | `framepack_hybrid_r2` / `framepack_hybrid_r4` | Compression | Hybrid: length compression + token weighting | | `spatial_mem` | Spatial | Spatial grid memory (64 tokens) | | `spatial_concat_text` | Spatial | Spatial memory via text KV concatenation | | `spatial_inject_none` | Spatial | Spatial memory with withheld read-out | | `spatial_cross_attn_readout` | Spatial | Spatial memory via cross-attention | | `videossm_hybrid` | State-space | Legacy VideoSSM hybrid (temporal-conv baseline) | | `block_wise_ssm` | State-space | Block-wise recurrent SSM (paper-aligned) | Add `--context_image` for first-frame conditioning and `--action_path` for camera trajectory control: ```bash python inference/unified_inference.py \ --ckpt ./ckpts/context_k1/epoch-0.safetensors \ --memory_type context_k1 \ --context_image assets/opendomain_revisit/1774363417.png \ --action_path env/action_rotation_left_45.json \ --prompt "A toy bear on a table" \ --output_path output.mp4 ``` Full argument reference: `python inference/unified_inference.py --help`. Additional scripts and details in [`inference/README.md`](inference/README.md). Dynamic SpatialVID inference wrappers mirror the six dynamic rows: ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export CKPT=/path/to/retrained_dynamic_spatial_mem/epoch-0.safetensors bash inference/dynamic_spatialvid/run_infer_dyn_spatial_mem.sh ``` ## Training Memory baseline recipes live in `train/memory_baselines_basic/`. The modeling view and paper-row mapping are documented in [`doc/memory_mechanisms.md`](doc/memory_mechanisms.md). These scripts map to the paper matrix: ```bash bash train/memory_baselines_basic/run_ablation_no_memory_baseline_two_chunk.sh bash train/memory_baselines_basic/run_ablation_framepack_weight_two_chunk.sh bash train/memory_baselines_basic/run_ablation_framepack_len_r2_two_chunk.sh bash train/memory_baselines_basic/run_ablation_framepack_len_r4_two_chunk.sh bash train/memory_baselines_basic/run_ablation_framepack_hybrid_r2_weight_two_chunk.sh bash train/memory_baselines_basic/run_ablation_framepack_hybrid_r4_weight_two_chunk.sh bash train/memory_baselines_basic/run_spatial_memory_baseline.sh bash train/memory_baselines_basic/run_ablation_spatial_inject_none_two_chunk.sh bash train/memory_baselines_basic/run_ablation_spatial_concat_text_two_chunk.sh bash train/memory_baselines_basic/run_ablation_spatial_cross_attn_readout_two_chunk.sh bash train/memory_baselines_basic/run_videossm_hybrid_baseline.sh bash train/memory_baselines_basic/run_ablation_block_wise_ssm_two_chunk.sh ``` Context learning recipes live in `train/context_learning/`: ```bash bash train/context_learning/run_pre_qkv_ctx1.sh bash train/context_learning/run_pre_qkv_ctx5.sh bash train/context_learning/run_pre_qkv_ctx20.sh ``` Outputs default to `outputs/`. Override with `OUTPUT_BASE_ROOT=/path/to/outputs`. Dynamic SpatialVID recipes live in `train/dynamic_spatialvid/`: ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export DATASET_BASE_PATH=data/dynamic-spatialvid-motion60/mixed bash train/dynamic_spatialvid/run_dyn_ctx1.sh bash train/dynamic_spatialvid/run_dyn_ctx5.sh bash train/dynamic_spatialvid/run_dyn_ctx20.sh bash train/dynamic_spatialvid/run_dyn_spatial_mem.sh bash train/dynamic_spatialvid/run_dyn_block_wise_ssm.sh bash train/dynamic_spatialvid/run_dyn_videossm_hybrid.sh ``` ### Two-Chunk Training Paradigm All memory baselines are trained in a **two-chunk** setup that simulates the revisit scenario: - **Chunk 1 (context):** A clean reference segment encoded by the VAE. Context frames are sampled from the same video preceding the target segment and concatenated with the target latents at the suffix position. - **Chunk 2 (target):** The noisy segment that the model learns to denoise. The memory mechanism operates on context latents to retain historical information across chunks. - **Training-time monitoring:** The `--sampling_atomic_left_right` flag generates a left-45-degree then right-45-degree rotation pair during training for visual quality checks, using the same loop-closure probe used in evaluation. This two-chunk structure forces the model to rely on memory when generating chunk 2, directly training the memory pathway that evaluation later tests. ### Hyperparameters All memory baselines share a common training configuration: | Parameter | Value | Notes | |---|---:|---| | Learning rate | 5e-5 | All memory rows | | Batch size | 1 | Per device | | Gradient accumulation | 1 | | | Training epochs | 1 | ~30,000 steps on static pool | | Resolution | 640 x 352 | Width x Height | | Frames per chunk | 81 | ~5.4 s at 15 fps | | Timestep shift | 15 | Memory baselines; context learning uses 5 | | Optimizer | AdamW | Via `accelerate` | | Backbone | Wan 2.1 T2V 1.3B | Full DiT trainable (`--trainable_models dit --save_full_model`) | | T2V / I2V conditioning ratio | 0.10 / 0.10 | Classifier-free guidance target-only (`--cfg_target_only`) | ### Memory-Specific Parameters Each memory family introduces its own flags on top of the shared configuration: | Family | Key parameter | Values | Training flag | |---|---|---|---| | Raw context | `context_memory_frames` | 1 / 5 / 20 | `--context_memory_frames {1,5,20}` | | FramePack weight | `context_temporal_decay` | 0.9 | `--use_framepack_memory --context_temporal_decay 0.9` | | FramePack length | `framepack_ratio` | 2 or 4 | `--use_framepack_length_compress --framepack_ratio {2,4}` | | FramePack hybrid | decay + ratio | 0.95 + 2 or 4 | Both `--use_framepack_memory` and `--use_framepack_length_compress` | | Spatial memory | `spatial_memory_tokens` | 64 | `--use_spatial_memory --spatial_memory_tokens 64` | | Spatial inject mode | `inject_mode` | concat_text / cross_attn_readout / none | `--spatial_memory_inject_mode {mode}` | | SSM (block-wise) | block-wise recurrent | `diffsynth/models/memory/block_wise_ssm.py` | `--use_block_wise_ssm` | | SSM (legacy hybrid) | temporal-conv hybrid | `diffsynth/models/memory/videossm_hybrid.py` | `--use_videossm_hybrid` | All training scripts share `train/_shared/common_env_memory.sh` for path resolution, environment setup, and common defaults. ## Data Echo-Memory training and in-domain evaluation use two **training pools** that share the same on-disk layout. Set `DATASET_BASE_PATH` to the root of the pool you are using. ```text {DATASET_BASE_PATH}/ ├── frames/ ├── jsons/ ├── overlap_labels/ # recommended ├── metadata_full.csv └── latents/ # optional ``` ### Static in-domain pool - **Release:** [Echo-Team/Echo-Memory-Data](https://huggingface.co/datasets/Echo-Team/Echo-Memory-Data) (`static_pool_tar_parts/`, includes `metadata_full.csv`) - **Original source:** [KlingTeam/Context-as-Memory-Dataset](https://huggingface.co/datasets/KlingTeam/Context-as-Memory-Dataset) (~340 GB) - **Local root:** `data/Context-as-Memory-Dataset` (code default when `DATASET_BASE_PATH` is unset) - **Guide:** [doc/dataset_preprocessing.md](doc/dataset_preprocessing.md) — download, unpack tar parts, verify layout **One-shot download, verify, and unpack:** ```bash mkdir -p data huggingface-cli download Echo-Team/Echo-Memory-Data \ --repo-type dataset \ --include "static_pool_tar_parts/*" \ --local-dir data/echo-memory-data-release sha256sum -c data/echo-memory-data-release/static_pool_tar_parts/SHA256SUMS cat data/echo-memory-data-release/static_pool_tar_parts/echo-memory-data.tar.part-* | tar -xf - -C data export DATASET_BASE_PATH=data/Context-as-Memory-Dataset ``` After unpacking, `DATASET_BASE_PATH` is ready for training, inference, and in-domain evaluation. The tar archive already contains `metadata_full.csv`, so no metadata regeneration is required for the released pool. If you modify the pool or want a smaller custom training index, regenerate metadata locally: ```bash export DATASET_BASE_PATH=data/Context-as-Memory-Dataset # Full metadata rebuild. bash scripts/run_generate_metadata.sh # Optional small/custom metadata for ablations or reduced-size training. OUTPUT_CSV="${DATASET_BASE_PATH}/metadata_1000.csv" \ METADATA_MAX_ROWS=1000 \ bash scripts/run_generate_metadata.sh ``` Use the custom CSV by passing `--dataset_metadata_path "${DATASET_BASE_PATH}/metadata_1000.csv"` in training/eval commands. **Latents (optional):** ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export DATASET_BASE_PATH=data/Context-as-Memory-Dataset NUM_PROCESSES=8 bash scripts/run_precompute_ctx_target_latents.sh ``` ### Dynamic training pool - **Source:** simplified [SpatialVID/SpatialVID](https://huggingface.co/datasets/SpatialVID/SpatialVID) subset - **Local root:** `data/dynamic-spatialvid-motion60/mixed` - **Guide:** [doc/dynamic_dataset_preprocessing.md](doc/dynamic_dataset_preprocessing.md) — motion-filtered export, metadata files, training settings - **Train metadata:** `metadata_train.csv` for full training; `metadata_train_sample.csv` or `metadata_train_sample_L1.csv` for quick local checks - **Eval status:** dynamic eval protocol is TODO; current public support is training + inference ### Open-domain assets Held-out first frames for the open-domain revisit suite are already in `assets/opendomain_revisit/`; no download or construction step is required. ## Evaluation In-domain replay and revisit eval use the **static in-domain pool** (`DATASET_BASE_PATH`). Run the paper evaluation bundle for a checkpoint: ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export DATASET_BASE_PATH=data/Context-as-Memory-Dataset export CKPT=./ckpts/context_k1/epoch-0.safetensors bash eval/v2/run_static_consistency_loop_and_revisit.sh bash eval/v2/run_basic_replay_gt.sh ``` Run the open-domain revisit suite with the released first frames: ```bash export WAN_BASE_MODEL=/path/to/Wan2.1-T2V-1.3B export DATASET_BASE_PATH=data/Context-as-Memory-Dataset PHASE=stage1 OOD_DIR=assets/opendomain_revisit \ bash eval/v2/revisit_suite/run_one_click_revisit_eval.sh ``` If an OpenAI-compatible VLM endpoint is available, add `PHASE=vlm` or run the default `PHASE=all` with `VLM_API_BASE` and `VLM_MODEL`. ### Evaluation Types The evaluation suite has three complementary tiers, from fast basic replay to full generalization check: | Eval type | Script | What it tests | When to use | |---|---|---|---| | **Basic replay** | `run_basic_replay_gt.sh` | Single-video GT trajectory fidelity. Per-frame comparison against ground-truth. | Quick check: does the model follow the ground-truth camera path? | | **Static consistency** | `run_static_consistency_loop_and_revisit.sh` | Multi-chunk loop closure (leave and return to the same pose) and action-combo revisit. | Paper-level evaluation: memory mechanism comparison on revisit consistency. | | **Open-domain revisit** | `revisit_suite/run_one_click_revisit_eval.sh` | Held-out first frames not in training data. Tests whether memory generalizes to unseen scenes. | Generalization check: does memory help on new images? | Basic replay validates action control; static consistency isolates memory quality; open-domain revisit tests generalization. ### Metrics | Metric | Full name | Measures | Range | Better | |--------|-----------|----------|-------|--------| | **MSE** | Mean Squared Error | Per-pixel difference between generated and GT frames | 0 ~ inf | Lower | | **PSNR** | Peak Signal-to-Noise Ratio | Signal reconstruction quality (log-scale of MSE) | 0 ~ 50 dB | Higher | | **SSIM** | Structural Similarity Index | Structural similarity in luminance, contrast, and structure | −1 ~ 1 | Higher | | **LPIPS** | Learned Perceptual Image Patch Similarity | Perceptual distance using deep feature representations | 0 ~ 1 | Lower | | **FID** | Fréchet Inception Distance | Distribution-level realism of generated images | 0 ~ inf | Lower | | **FVD** | Fréchet Video Distance | Distribution-level temporal quality of generated video | 0 ~ inf | Lower | ### Interpreting Results - **Basic replay** outputs `replay_gt_metrics.json` with per-frame and aggregate MSE, PSNR, SSIM. PSNR above ~25 dB and SSIM above ~0.7 indicate reasonable single-chunk fidelity. - **Static consistency** outputs per-sample revisit metrics under `evals_v2/static_consistency/`. Compare first-frame-vs-revisit-tail MSE across memory rows: lower MSE means the model better preserved the original scene on return. - **Open-domain revisit** outputs frame pairs and optional VLM scores. Compare across memory families to assess which mechanism generalizes best to unseen scenes. ## Capability Metrics ```bash python eval/metrics/run_all_metrics.py --help python eval/metrics/run_visual_eval.py --help ``` Dynamic evaluation is TODO. Current dynamic support covers SpatialVID training/inference wrappers and qualitative replay demos selected by random training-scene replay followed by manual picking. ## Community Project page supports **EN / 中文** — [echo-team-joy-future-academy-jd.github.io/Echo-Memory](https://echo-team-joy-future-academy-jd.github.io/Echo-Memory/) Maintainers: [Developer Guide](https://echo-team-joy-future-academy-jd.github.io/Echo-Memory/developer.html) · [doc/DEVELOPER.md](doc/DEVELOPER.md) · Cursor skills in [`.cursor/skills/`](.cursor/skills/)

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## Citation If you use this repository or the Echo-Memory paper, please cite: **arXiv:2606.09803 (June 2026)** · [Paper](https://arxiv.org/abs/2606.09803) · [PDF](https://arxiv.org/pdf/2606.09803) · Licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) ```bibtex @article{king2026echomemory, title={Echo-Memory: A Controlled Study of Memory in Action World Models}, author={King, Wayne and Xue, Zeyue and Bian, Yuxuan and Huang, Jie and Li, Haoran and Li, Yaowei and Su, Yaofeng and Li, Yuming and Wang, Haoyu and Zhang, Shiyi and Zhang, Songchun and Niu, Yuwei and Xu, Sihan and Zhuang, Junhao and Huang, Haoyang and Duan, Nan}, journal={arXiv preprint arXiv:2606.09803}, year={2026}, month={jun}, eprint={2606.09803}, archivePrefix={arXiv}, primaryClass={cs.CV}, url={https://arxiv.org/abs/2606.09803} } ``` ## Star History [![Star History Chart](https://api.star-history.com/svg?repos=Echo-Team-Joy-Future-Academy-JD/Echo-Memory&type=date&legend=bottom-right)](https://www.star-history.com/#Echo-Team-Joy-Future-Academy-JD/Echo-Memory&type=date&legend=bottom-right)