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In a shell game, for example, a robot first sees which cup hides the ball, watches the cups move, and only later needs to choose the correct cup. The final observation alone is not enough for a decision: the correct action depends on an earlier event. We refer to this temporal gap as observation-action delay. It makes memory a policy-facing problem: a policy must keep similar histories distinct, retrieve the past event relevant to the current decision, and convert that recall into an action-ready state. We call these requirements separability, addressability, and prospectiveness. We introduce Chameleon, a ~60M visuomotor policy for control-indexed prospective memory. Chameleon writes embodied event memory, preserves separable histories, retrieves control-relevant traces, and trains the resulting working state to be prospective.","title":"Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation","url":"https://arxiv.org/abs/2603.24576","vendor":"arxiv_cs_ai"},"summary":"arXiv:2603.24576v2 Announce Type: replace-cross \nAbstract: Robots often observe information that determines a future action long before that action is executed. In a shell game, for example, a robot first sees which cup hides the ball, watches the cups move, and only later needs to choose the correct cup. The final observation alone is not enough for a decision: the correct action depends on an earlier event. We refer to this temporal gap as observation-action delay. It makes memory a policy-facing problem: a policy must keep similar histories distinct, retrieve the past event relevant to the current decision, and convert that recall into an action-ready state. We call these requirements separability, addressability, and prospectiveness. We introduce Chameleon, a ~60M visuomotor policy for control-indexed prospective memory. Chameleon writes embodied event memory, preserves separable histories, retrieves control-relevant traces, and trains the resulting working state to be prospective.","title":"Chameleon: Control-Indexed Prospective Memory for Visuomotor Manipulation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-08T04:44:02Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2603.24576"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:f295f28cbaf842c0053044d26e447bc588fd468f1c8c77d37b01027972b06b00b7cf62014cbe10bb7005ede859fed9e4569bb04574ad73f692d31bbf37269c0a","signer":"crovia.substrate","subject":{"observed_at":"2026-06-08T04:44:02Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2603.24576"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"924e28feb2a9018aa0d9902e55371a34d9c4c6b6ea1cda96dd29ccebda6386c1","leaf_index":223883,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"fe57b1e5e5429214668ae1fe9d970a3a4048454a7ac6e626dab18e6c9cdf2c21","side":"left"},{"sibling":"43cab3d88317c6eccb58318f3f2081a082fe58ada9df374d57341d1e97fd07e3","side":"left"},{"sibling":"b777ed12b41d6b2dc6ec0293cade602012f9289bf21d25ebf8e744fa0a2d7570","side":"right"},{"sibling":"fe299ddbdd1f25d9f3601a589424ba05e5c6faf6b6e3cabb825d1aef5efd791a","side":"left"},{"sibling":"dd42295995afdfc41ea68d1a94b312610b27faac4e158080459345f952b6753e","side":"right"},{"sibling":"7a3fd3b100f030f34dd146a0f7e7ff612e24a350629d2c6d2ccd949dabb576c8","side":"right"},{"sibling":"d9e96a026bf19228243264aa70a028a48f8a58ae04caab8ebd434847bf9e27ac","side":"right"},{"sibling":"e9e4595b6d3a8db8d409d92f766595bee2c79e9389fc033969243fd816d368c5","side":"left"},{"sibling":"fad4d9627e4b025e7840b4e896082fb8291cbf1a4c05653b3a789c8a4205d4b5","side":"right"},{"sibling":"e8dcea313a54920d83e4f72d5a4223f986c719f264241d171c4712efaaf1fc54","side":"left"},{"sibling":"5480e1ea31f4744f9bd7c4261771fe51f2cdb01e705cc17320bfc202d935ca12","side":"right"},{"sibling":"24fdc29d461691aedb6fa920758206b5bb43851f477ef7a04c34aaed84b8971b","side":"left"},{"sibling":"036922da4e1e2c46d948f070454bfad299b7406fb00735ea9d8bd1e687f5f445","side":"right"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"87c6b850dfec08ac35a693d9db3a3315250a68adb1cfab9b1015f212b63b15bd","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":224761,"merkle_root":"e9f7b49b652e869ab97ffba9c5a31356b2d0e3dc5d00bb28944adf737c46b1e7","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260609T103805Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-09T14:15:34Z","sig_algorithm":"ed25519","signature":"8ad8076fb12c8e486ae1d1559a9a7ba8e2ee996a9ad3d8ba7bcdbdbd88ab3a15bcb429707aca6d3e9d8b97e2ba755b3dcc77b1abb6601ccb829842719a6fb30d","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_8ba821701efead08f78106562f4fbf8ddc31bbbad7b83ccdc2ac89f811909f30"}}