Analytic Concept-Centric Memory
Analytic Concept-Centric Memory for Agentic Embodied Manipulation
Mingyang Sun, Xiujian Liang, Jiude Wei, Qichen He, Donglin Wang, Cewu Lu, et al. · 2026-06-29
- Management
- T2 Dynamic Memory
- Memory changes during deployment through a stable management policy.
- Representation
- Cross-represented explicit
How experience becomes memory
Each path is one memory component, traced from what is stored to how it is found again.
concept-centric manipulation memory
- Represented asSpatial, temporal & cross-modal structured memoryCross-represented explicit
- Stored inGraph / relational store
- Retrieved byStructure traversal, Planner / tool-assisted retrieval
- Source evidenceSource linked & recoverable
Objects, parts, poses, affordances, states, action transitions, and skills are connected for coarse-to-fine retrieval.Full paper: Method · PDF p. 3 · Figure 1
How memory changes (T2 operations)
Update · Rule-based update
Fixed analytic templates update object and scene state as manipulation changes the environment. For Analytic Concept-Centric Memory, this specifically supports fixed-rule insertion or replacement of concept-centric manipulation memory.
Revision · Rule-based state correction
Transition memory records action-induced changes to keep retrieved states consistent. For Analytic Concept-Centric Memory, this specifically supports fixed-rule correction of stored state of concept-centric manipulation memory.