diff --git a/src/lerobot/policies/smolvla2/inference/runtime.py b/src/lerobot/policies/smolvla2/inference/runtime.py
index afc7cca18..6605f72cb 100644
--- a/src/lerobot/policies/smolvla2/inference/runtime.py
+++ b/src/lerobot/policies/smolvla2/inference/runtime.py
@@ -33,8 +33,9 @@ from .steps import (
     HighLevelSubtaskFwd,
     InferenceStep,
     LowLevelForward,
+    MemoryUpdateFwd,
 )
-from .triggers import HzTrigger, TickClock
+from .triggers import EventTrigger, HzTrigger, TickClock
 
 logger = logging.getLogger(__name__)
 
@@ -67,29 +68,40 @@ class SmolVLA2Runtime:
     _stop: bool = field(default=False, init=False)
 
     def __post_init__(self) -> None:
-        # Subtask + VQA configuration (current scope — plan and memory
-        # are not trained yet). Pipeline:
+        # Subtask + memory + VQA configuration. Pipeline:
         #
         #   HighLevelSubtaskFwd → generate the next subtask via the LM
         #                         head at ~``high_level_hz``; writes
-        #                         ``current_subtask``
-        #   AskVQAFwd           → answer camera-grounded stdin questions
+        #                         ``current_subtask`` and emits
+        #                         ``subtask_change`` on a transition.
+        #   MemoryUpdateFwd     → on ``subtask_change``, refresh
+        #                         ``current_memory`` from the
+        #                         ``memory_update`` head.
+        #   AskVQAFwd           → answer camera-grounded stdin questions.
         #   LowLevelForward     → action chunk conditioned on the
-        #                         generated ``current_subtask``
-        #   DispatchAction      → drain the chunk to the robot
-        #   DispatchToolCalls   → fire any pending tool calls
+        #                         generated ``current_subtask``.
+        #   DispatchAction      → drain the chunk to the robot.
+        #   DispatchToolCalls   → fire any pending tool calls.
         #
-        # Order matters: ``HighLevelSubtaskFwd`` and ``LowLevelForward``
-        # are both gated on "action queue empty", so the subtask must
-        # refresh *before* the chunk that consumes it. ``MemoryUpdateFwd``
-        # / ``UserInterjectionFwd`` are still importable from
-        # ``inference.steps`` — re-add once plan / memory are in scope.
+        # Order matters: ``HighLevelSubtaskFwd`` must run before
+        # ``MemoryUpdateFwd`` so the event is visible the same tick, and
+        # both must run before ``LowLevelForward`` (which is gated on
+        # "action queue empty") so the chunk consumes the freshest
+        # subtask. ``UserInterjectionFwd`` is still importable but
+        # disabled until plan generation is wired in.
         self.pipeline = [
             HighLevelSubtaskFwd(
                 trigger=HzTrigger(self.high_level_hz),
                 policy=self.policy,
                 observation_provider=self.observation_provider,
             ),
+            # Listens for the ``subtask_change`` event raised by
+            # ``HighLevelSubtaskFwd`` and refreshes ``current_memory``.
+            MemoryUpdateFwd(
+                trigger=EventTrigger("subtask_change"),
+                policy=self.policy,
+                observation_provider=self.observation_provider,
+            ),
             AskVQAFwd(
                 policy=self.policy,
                 observation_provider=self.observation_provider,