HIDE benchmark and SEEK memory framework: 62.9% average success across 15 hidden-state tasks, 11.7 points above the strongest baseline
The authors introduce HIDE, an RLBench-based benchmark of 15 manipulation-memory tasks spanning repetition counting, historical-state recall, and execution-progress tracking under partial observability, together with SEEK, a framework combining windowed context memory, persistent anchor memory, and stage-counter memory to retain historical evidence and track execution state; evaluations show substantial limitations in existing policies on HIDE, while SEEK reaches 62.9% average success in simulation, 11.7 percentage points above the strongest baseline SAM2Act+, and 89% average success on four real-robot tasks.