| --- |
| tags: |
| - lerobot |
| - maniskill |
| - non-markovian |
| - vla |
| --- |
| |
| # ManiSkill-Memory-Dependence Benchmark |
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| A comprehensive memory dependence robot benchmark across 4 manipulation tasks from different memory dimensions, introduced in the paper **"Non-Markovian Long-Horizon Robot Manipulation via Keyframe Chaining"**. |
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| ## Dataset Description |
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| This dataset provides a suite of Non-Markovian manipulation tasks built upon the ManiSkill simulator to measure task success rates in scenarios requiring long-horizon memory and state disambiguation. |
| It is specifically designed to evaluate Vision-Language-Action (VLA) models on their ability to resolve state aliasing and handle memory-dependent operations. |
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| ### Benchmark Tasks |
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| The benchmark evaluates models across four distinct memory dependence dimensions: |
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| 1. **Spatial Reconfiguration:** The agent must dismantle a vertical stack of three randomly ordered blocks and reconstruct them in a permuted sequence. |
| 2. **Temporal Sequencing:** The robot must perform a “pick-lift-reset” cycle for three colored cubes strictly in the order of 𝑅𝑒𝑑 → 𝐺𝑟𝑒𝑒𝑛 → 𝐵𝑙𝑢𝑒. |
| 3. **Counting & Latency:** A signal lamp flashes twice with a randomized interval. The agent must count these pulses and push the target only after the second flash. |
| 4. **Identity Tracking:** Three visually identical red blocks are aligned, and an auxiliary arm performs a rapid swap between two of them. The agent is tasked with picking the specific block that was originally in the center. |
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| ## Usage |
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| For detailed instructions on how to set up the environment, load the benchmark, and evaluate your models, please refer to our official GitHub repository: |
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| 🔗 **[GitHub Repository: How to use the ManiSkill-Memory-Dependence Benchmark](https://github.com/cytoplastm/VLA_Memory_dependence_benchmark)** |
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| ## Citation |
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| If you find this benchmark useful in your research, please cite our paper: |
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|
| ```bibtex |
| @article{KC-VLA, |
| title={Non-Markovian Long-Horizon Robot Manipulation via Keyframe Chaining}, |
| author={Yipeng Chen and Wentao Tan and Lei Zhu and Fengling Li and Jingjing Li and Guoli Yang and Heng Tao Shen}, |
| journal={arXiv preprint arXiv}, |
| year={2026}, |
| } |
