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Gradient-Momentum Coupling (GMC) is proposed, which measures how strongly a sample drives change in the parameter space, given by the normalized absolute product of its gradient with the momentum of previous gradients.
MEMENTO is introduced, a memory-guided single-elite memetic framework for code-as-policy evolution that outperforms Eureka and REvolve, adapted as code-as-policy evolutionary baselines, in task success and generalization to held- out Robosuite object configurations and unseen AI2-THOR scenes.
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