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cs.RO2026

TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation

Jun Sun, Boyu Yang, Jiahao Zhang +7

Pretrained Vision-Language-Action (VLA) policies have achieved strong single-step manipulation, but their inference remains largely memoryless, which is brittle in non-Markovian lo…