MEMORA: Embodied Action Memory from Egocentric Videos for Reasoning and Planning

Jul 17, 2026

MEMORA introduces Embodied Action Memory (EAM), a structured memory system for long-horizon robot planning that mimics human-like recall of past experiences. The system uses a formation-consolidation-retrieval lifecycle with four distinct memory stores and is evaluated on 45 hours of EPIC-KITCHENS-100 video. MEMORA demonstrates improvements in memory-assessment accuracy by up to 20.5 points and robot-grounded plan scores by 16.6% over baseline methods.

Why it matters: This work advances robot planning by enabling systems to leverage structured, persistent memories of past experiences, leading to more effective long-term reasoning and action.

Full story at: arXiv Robotics ↗