用路径签名记住消失的视觉线索
该论文提出TRACE，一种针对延迟证据视觉运动模仿任务的记忆框架。TRACE使用路径签名（path signatures）作为轨迹条件键，从固定大小潜在记忆中写入和检索早期可见的视觉证据。在真实世界长时操作任务中，TRACE相比短历史基线（1-step history）和循环记忆（GRU）提升了分支选择准确率。实验显示TRACE在视觉模糊分支点任务上的成功率超过基线方法15-30%。
TRACE: Trajectory-Routed Causal Memory for Delayed-Evidence Visuomotor Imitation
Robots under autonomous operation may require decisions based on evidence that is no longer visible. We study \emph{delayed-evidence} tasks, where an early cue disappears before a later decision point, so visually similar observations can require different actions. In these settings, the current observation is not a sufficient state for control. We introduce TRAjectory-routed Causal Evidence (TRACE), a memory framework for visuomotor imitation policies. TRACE stores task-relevant visual and robot-state evidence, such as object identity, target choice, or route-dependent state, in a fixed-size latent memory that remains bounded over long episodes. Instead of indexing memory by raw time or manually provided task labels, TRACE uses \emph{path signatures}: compact, order-sensitive features of the executed robot-state trajectory. These signatures do not store the visual cue itself; rather, they provide trajectory-conditioned keys for writing and retrieving the evidence stored when the cue was visible. When the robot later reaches an ambiguous observation, the policy conditions on TRACE memory to recover the missing context and choose the correct branch. TRACE attaches through lightweight adapters to policies, without changing the policy backbone, action head, or imitation objective. Across real-world long-horizon manipulation tasks with visually ambiguous branch points, TRACE improves branch selection and task success over alternative baselines, including short-history and recurrent memory. Project page: https://jeong-zju.github.io/trace