RoboCasa-Mem: Benchmarking Environment and Process Memory in Long-Horizon Mobile Manipulation

In the real world, mobile manipulation robots must perform complex object interactions and make multi-step decisions, often relying on task-relevant information that is no longer observable. However, existing benchmarks provide limited evaluation of such memory-dependent decision-making in mobile manipulation. To address this gap, we introduce RoboCasa-Mem, a new benchmark comprising nine mobile manipulation tasks that require agents to use interaction history at key decision points. Specifically, the tasks are grouped into two categories of memory: One is environment memory, which captures spatial locations, object attributes, and object relationships. The other is process memory, which captures single-task progress and multi-task scheduling. Particularly, we introduce Behavior-Conditioned Evaluation. For tasks with multiple valid execution paths, instead of fixing a single target or trajectory, the evaluator derives later task constraints from the robot's earlier actions. This allows us to evaluate whether later behavior is consistent with the robot's own interaction history while reducing shortcuts based on fixed target assignments. We provide 1,800 successful demonstrations for policy training. We also develop a baseline on our benchmark, namely Hierarchical Memory-Augmented Policy (HMAP). Its high-level planner uses structured entity and process memories to generate subtasks. Its low-level VLA controller uses subgoal-conditioned queries to incorporate VGGT-$\Omega$ geometry into action generation. Together, \benchmark and HMAP baseline support systematic evaluation of memory-dependent behavior and the development of memory-aware mobile manipulation policies.