PMTRM: Pseudo-Memory Temporal Re-encoding Module for Embodied Policy Learning
PMTRM is a lightweight module that encodes a bounded history of executed states and actions into a latent sequence for existing robotic policies. It aims to improve phase disambiguation—distinguishing between similar observations during repeated motions—without needing complex retrieval systems or extra policy tokens. The module achieves this by training objectives focused on preserving action semantics while promoting temporal discriminability.