@article{starscalabletaskconditionedretrievalforl,
  title = {STaR: Scalable Task-Conditioned Retrieval for Long-Horizon Multimodal Robot Memory},
  author = {Mingfeng Yuan and Hao Zhang and Mahan Mohammadi and Runhao Li and Jinjun Shan and Steven L. Waslander},
  year = {2026},
  eprint = {2602.09255},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.09255},
}