TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation

Jun  Sun; Boyu Yang; Jiahao Zhang; Ning Ma; Chencheng Wu; Siqi Zhang; Yiou Huang; Qiu-Feng Wang; Shan Liang; Yaran Chen

TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation

Jun Sun
, Boyu Yang
, Jiahao Zhang
, Ning Ma
, Chencheng Wu
, Siqi Zhang
, Yiou Huang
, Qiu-Feng Wang
, Shan Liang
, Yaran Chen^*

^*Corresponding author for this work

Department of Intelligent Science

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Original language	English
Title of host publication	The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publication status	Published - 2026

Cite this

@inproceedings{9557433961c848f29d95ff558beb9ebd,

title = "TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation",

author = "Jun Sun and Boyu Yang and Jiahao Zhang and Ning Ma and Chencheng Wu and Siqi Zhang and Yiou Huang and Qiu-Feng Wang and Shan Liang and Yaran Chen",

year = "2026",

language = "English",

booktitle = "The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

}

TY - GEN

T1 - TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation

AU - Sun, Jun

AU - Yang, Boyu

AU - Zhang, Jiahao

AU - Ma, Ning

AU - Wu, Chencheng

AU - Zhang, Siqi

AU - Huang, Yiou

AU - Wang, Qiu-Feng

AU - Liang, Shan

AU - Chen, Yaran

PY - 2026

Y1 - 2026

M3 - Conference Proceeding

BT - The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ER -