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arXiv · 2609.15976

MessyMem: Learning-from-Doing Memory for Mobile Manipulation

Anuva Banwasi·William Muckelroy III·Priya Sundaresan·Linfeng Zhao·Jeannette Bohg·Cherie Ho
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Abstract

Mobile manipulators deployed across many rooms and visits should improve with experience: after discovering that a cabinet is locked or finding an object in a drawer, the robot should reuse that knowledge rather than start each task from scratch. Yet today's robots often treat each task as new: compact scene representations omit interaction-derived knowledge, raw video histories are difficult to query, and VLM planners reason at inference time without persistently updating what the robot knows. We present MessyMem, a persistent memory system that enables mobile manipulators to learn from experience and reuse that knowledge across future tasks. It maintains a spatially grounded 3D scene graph of objects and locations, augments it with properties and outcomes learned through interaction, and links visual observations for fine-grained recall. We evaluate MessyMem in simulation and on a real mobile manipulator. In a continuous 25-task simulation spanning over 3 hours, MessyMem achieves 80.0% task progress, outperforming the strongest ablation by 14.8 percentage points and the strongest external baseline by 28.9 points, while retrieving task-relevant evidence from thousands of stored keyframes and over an hour into the past.

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Anuva Banwasi, William Muckelroy III, Priya Sundaresan, Linfeng Zhao, Jeannette Bohg, Cherie Ho. 2026-09-15. MessyMem: Learning-from-Doing Memory for Mobile Manipulation. https://arxiv.org/abs/2609.15976

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