RT-cache: Efficient Robot Trajectory Retrieval System

• URL: http://arxiv.org/abs/2505.09040v1
• Date: Wed, 14 May 2025 00:41:44 GMT
• Title: RT-cache: Efficient Robot Trajectory Retrieval System
• Authors: Owen Kwon, Abraham George, Alison Bartsch, Amir Barati Farimani,
• Abstract summary: This paper introduces RT-cache, a novel trajectorymemory pipeline that accelerates real-world robot inference.<n> RT-cache stores a large-scale Memory of previously successful robot trajectories and retrieves relevant multistep motion snippets.<n>Experiments on the Open-X Embodiment dataset and other real-world data demonstrate that RT-cache completes tasks both faster and more successfully than a baseline lacking retrieval.
• Score: 9.312155153982982
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This paper introduces RT-cache, a novel trajectorymemory pipeline that accelerates real-world robot inference by leveraging big-data retrieval and learning from experience. While modern Vision-Language-Action (VLA) models can handle diverse robotic tasks, they often incur high per-step inference costs, resulting in significant latency, sometimes minutes per task. In contrast, RT-cache stores a large-scale Memory of previously successful robot trajectories and retrieves relevant multistep motion snippets, drastically reducing inference overhead. By integrating a Memory Builder with a Trajectory Retrieval, we develop an efficient retrieval process that remains tractable even for extremely large datasets. RT-cache flexibly accumulates real-world experiences and replays them whenever the current scene matches past states, adapting quickly to new or unseen environments with only a few additional samples. Experiments on the Open-X Embodiment Dataset and other real-world data demonstrate that RT-cache completes tasks both faster and more successfully than a baseline lacking retrieval, suggesting a practical, data-driven solution for real-time manipulation.

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