benni23/memory-clock

Is Your Robot's Memory Just a Clock? — Checkpoints

Policies trained for the paper Is Your Robot's Memory Just a Clock? Temporal Shortcuts in Memory-Augmented VLA Policies.

Paper: arXiv:2611.14488

Code: github.com/bennidict23/memory-clock

All models are trained from the pi0.5 base checkpoint with the released RoboMME MME-VLA recipe (FrameSamp-Modul memory, 30k steps, global batch 64) and evaluated on RoboMME.

Folder	Model	Used in
clock/	FrameSamp-Modul memory with time stamps	Figs. 6, 8b
noclock/	the same without time encoding (use_pos_emb: false)	Fig. 6
clock-retrain/	independent Clock retraining, control for pause augmentation	Fig. 8a
pauseaug/	Clock trained with pause augmentation	Fig. 8a
pauseaug-weak/	weaker pause-augmentation variant	Pause-augmentation ablation

Each folder holds 29999/{params,assets} (openpi / orbax format) and history_config.txt.

Usage

git clone https://github.com/bennidict23/memory-clock.git && cd memory-clock
bash install.sh && bash download.sh          # fetches these checkpoints into checkpoints/<name>/29999
bash run_eval.sh --model clock --task PickXtimes --event pause --len 100

License

The weights are derived from pi0.5 / PaliGemma and are subject to the Gemma Terms of Use.

Citation

@misc{zhang2026robotmemoryclock,
  title={Is Your Robot's Memory Just a Clock? Temporal Shortcuts in Memory-Augmented VLA Policies},
  author={Chubin Zhang and Bo An},
  year={2026},
  eprint={2611.14488},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2611.14488}
}