TRACE: Trajectory-Routed Causal Memory for Delayed-Evidence Visuomotor Imitation

TRACE (Trajectory-routed Causal Evidence) is a novel memory framework designed for visuomotor imitation tasks where evidence may not be visible at decision points. It utilizes fixed-size latent memory indexed by path signatures—order-sensitive features of the robot's trajectory—allowing for effective retrieval of task-relevant information when faced with ambiguous observations. This approach enhances decision-making in long-horizon manipulation tasks, outperforming traditional methods like short-history and recurrent memory, which is crucial for practitioners developing robust autonomous systems that require contextual memory management.