EventSync.

Event-Driven Memory Updates
for History-Dependent Manipulation

Jingjiao Zhao^1,2Dong Jing¹Mingyu Cao²Ruochuan Shi^3,2Xiansheng Chen²Pengwei Wang²Zhiwu Lu^1,*

¹ Renmin University of China

² Beijing Academy of Artificial Intelligence

³ Institute of Automation, Chinese Academy of Sciences

^* Corresponding author: luzhiwu@ruc.edu.cn

Motivation

Similar images can correspond to different stages of a task. If a robot records completion too early, its memory runs ahead of execution and misleads the next decision. EventSync uses visual and motion evidence to confirm progress before updating task memory.

Demo

Illustrative reference clips; execution at 2.5×.

Method

EventSync framework. A Memory Reasoner selects grounded subgoals, an Action Executor executes them, and an Event Monitor combines images and end-effector trajectories to provide completion evidence for task-memory updates.

RoboMME

16 tasks × 50 episodes

64.5%

EventSync + FrameSamp+Modul

+20.0pp

vs. best benchmark-reported baseline

Success rate (%)

Baselines: benchmark-reported repeated-run means. EventSync: 50 episodes per task.

Per-task results

Success rate (%). Bold marks the best result, including ties.
Task	π₀.₅	GroundSG + QwenVL	MemER	FrameSamp+Modul	EventSync	EventSync + FrameSamp+Modul

RoboMME demonstrations

Success examples from EventSync + FrameSamp+Modul; gains over GroundSG + QwenVL.

Counting

SwingXtimes

+88.7 pp

96.0% vs 7.3%

Permanence

ButtonUnmask

+76.0 pp

100.0% vs 24.0%

Reference

PickHighlight

+52.9 pp

68.0% vs 15.1%

Imitation

PatternLock

+33.3 pp

40.0% vs 6.7%

Real robot

SwingXTimes

9/10

UnmaskCube

7/10

ImagePickPlace

9/10

SequencePickPlace

7/10

Citation

arXiv:2610.27917

@misc{zhao2026eventsync,
  title = {EventSync: Event-Driven Memory Updates for History-Dependent Manipulation},
  author = {Jingjiao Zhao and Dong Jing and Mingyu Cao and Ruochuan Shi and
            Xiansheng Chen and Pengwei Wang and Zhiwu Lu},
  year = {2026},
  eprint = {2610.27917},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.27917}
}