Supplementary Material

This section contains supplementary material to support the main paper text. In the video, we show the process of creating and building the activity-context memory described in Sec. The video compares the baseline approaches to our method. We present the algorithm for creating and maintaining the ACO memory in Algorithm 1. Equation 5. Note that in practice, we normalize The remaining columns show similar "states" from THOR that our agents deem We show additional detection results to supplement Figure 1 (left). Last column shows failure cases.