# RePlanMem-VLA: Guiding VLA Keyframe Visual Memory with Plan Revision Signals

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ke96pbuljd0fds2prkieyfzwu
- Original: https://arxiv.org/abs/2610.22556

## Summary

An arXiv paper proposes RePlanMem-VLA (Replanning-Guided Keyframe Memory for VLA), which turns a policy's own plan revisions into an online memory-write signal: during receding-horizon execution, if consecutive action chunks show unusually large disagreement in their predictions of the same future action, this is treated as a task-relevant event.