diff --git a/cmd/picoclaw/cmd_memory.go b/cmd/picoclaw/cmd_memory.go
new file mode 100644
index 000000000..19d466a34
--- /dev/null
+++ b/cmd/picoclaw/cmd_memory.go
@@ -0,0 +1,226 @@
+// ABOUTME: CLI subcommand for querying and managing the semantic memory store.
+// ABOUTME: Provides recall, remember, list, and clear operations from the command line.
+package main
+
+import (
+	"bufio"
+	"context"
+	"fmt"
+	"os"
+	"path/filepath"
+	"strings"
+	"time"
+
+	"github.com/sipeed/picoclaw/pkg/memory"
+)
+
+func memoryCmd() {
+	if len(os.Args) < 3 {
+		memoryHelp()
+		return
+	}
+
+	subcommand := os.Args[2]
+
+	cfg, err := loadConfig()
+	if err != nil {
+		fmt.Printf("Error loading config: %v\n", err)
+		os.Exit(1)
+	}
+
+	workspace := cfg.WorkspacePath()
+	vectorDir := filepath.Join(workspace, "memory", "vectors")
+
+	// "clear" doesn't need a store connection
+	if subcommand == "clear" {
+		confirmed := false
+		for _, arg := range os.Args[3:] {
+			if arg == "--yes" || arg == "-y" {
+				confirmed = true
+			}
+		}
+		memoryClearCmd(vectorDir, confirmed)
+		return
+	}
+
+	store, err := memory.NewSemanticStore(
+		vectorDir,
+		cfg.Tools.Memory.OllamaURL,
+		cfg.Tools.Memory.EmbeddingModel,
+	)
+	if err != nil {
+		fmt.Printf("Error: could not open memory store: %v\n", err)
+		os.Exit(1)
+	}
+	if !store.IsAvailable() {
+		fmt.Println("Error: semantic memory is not available (is Ollama running?)")
+		os.Exit(1)
+	}
+
+	switch subcommand {
+	case "recall", "search":
+		query, topK := parseRecallArgs(os.Args[3:])
+		if query == "" {
+			fmt.Println("Usage: picoclaw memory recall <query> [--top N]")
+			os.Exit(1)
+		}
+		memoryRecallCmd(store, query, topK)
+	case "remember", "add":
+		content, category, tags := parseRememberArgs(os.Args[3:])
+		if content == "" {
+			fmt.Println("Usage: picoclaw memory remember <content> [--category TYPE] [--tags a,b,c]")
+			os.Exit(1)
+		}
+		memoryRememberCmd(store, content, category, tags)
+	case "list", "count":
+		memoryListCmd(store)
+	default:
+		fmt.Printf("Unknown memory command: %s\n", subcommand)
+		memoryHelp()
+	}
+}
+
+func parseRecallArgs(args []string) (query string, topK int) {
+	topK = 5
+	var queryParts []string
+
+	for i := 0; i < len(args); i++ {
+		switch args[i] {
+		case "--top", "-n":
+			if i+1 < len(args) {
+				fmt.Sscanf(args[i+1], "%d", &topK)
+				i++
+			}
+		default:
+			queryParts = append(queryParts, args[i])
+		}
+	}
+
+	query = strings.Join(queryParts, " ")
+	return
+}
+
+func parseRememberArgs(args []string) (content, category string, tags []string) {
+	category = "fact"
+	var contentParts []string
+
+	for i := 0; i < len(args); i++ {
+		switch args[i] {
+		case "--category", "-c":
+			if i+1 < len(args) {
+				category = args[i+1]
+				i++
+			}
+		case "--tags", "-t":
+			if i+1 < len(args) {
+				for _, t := range strings.Split(args[i+1], ",") {
+					t = strings.TrimSpace(t)
+					if t != "" {
+						tags = append(tags, t)
+					}
+				}
+				i++
+			}
+		default:
+			contentParts = append(contentParts, args[i])
+		}
+	}
+
+	content = strings.Join(contentParts, " ")
+	return
+}
+
+func memoryRecallCmd(store *memory.SemanticStore, query string, topK int) {
+	ctx, cancel := context.WithTimeout(context.Background(), 30*time.Second)
+	defer cancel()
+
+	results, err := store.Recall(ctx, query, topK)
+	if err != nil {
+		fmt.Printf("Error: %v\n", err)
+		os.Exit(1)
+	}
+
+	if len(results) == 0 {
+		fmt.Println("No memories found.")
+		return
+	}
+
+	fmt.Printf("Found %d memories:\n\n", len(results))
+	for i, r := range results {
+		fmt.Printf("  %d. [%.0f%% match] [%s] %s\n", i+1, r.Similarity*100, r.Category, r.Content)
+		if len(r.Tags) > 0 {
+			fmt.Printf("     Tags: %s\n", strings.Join(r.Tags, ", "))
+		}
+		if !r.Timestamp.IsZero() {
+			fmt.Printf("     Stored: %s\n", r.Timestamp.Format("2006-01-02 15:04"))
+		}
+	}
+}
+
+func memoryRememberCmd(store *memory.SemanticStore, content, category string, tags []string) {
+	ctx, cancel := context.WithTimeout(context.Background(), 30*time.Second)
+	defer cancel()
+
+	entry := memory.MemoryEntry{
+		Content:  content,
+		Category: category,
+		Tags:     tags,
+		Source:   "cli",
+	}
+
+	if err := store.Remember(ctx, entry); err != nil {
+		fmt.Printf("Error: %v\n", err)
+		os.Exit(1)
+	}
+
+	fmt.Printf("✓ Stored: %s\n", content)
+}
+
+func memoryListCmd(store *memory.SemanticStore) {
+	count := store.Count()
+	fmt.Printf("Memory store: %d entries\n", count)
+	if count > 0 {
+		fmt.Println("\nUse 'picoclaw memory recall <query>' to search.")
+	}
+}
+
+func memoryClearCmd(vectorDir string, confirmed bool) {
+	if _, err := os.Stat(vectorDir); os.IsNotExist(err) {
+		fmt.Println("Memory store is already empty.")
+		return
+	}
+
+	if !confirmed {
+		fmt.Print("Clear all memories? This cannot be undone. [y/N] ")
+		reader := bufio.NewReader(os.Stdin)
+		answer, _ := reader.ReadString('\n')
+		answer = strings.TrimSpace(strings.ToLower(answer))
+		if answer != "y" && answer != "yes" {
+			fmt.Println("Cancelled.")
+			return
+		}
+	}
+
+	if err := os.RemoveAll(vectorDir); err != nil {
+		fmt.Printf("Error: %v\n", err)
+		os.Exit(1)
+	}
+
+	fmt.Println("✓ Memory store cleared.")
+}
+
+func memoryHelp() {
+	fmt.Println("Usage: picoclaw memory <command> [options]")
+	fmt.Println()
+	fmt.Println("Commands:")
+	fmt.Println("  recall <query>     Search memories by semantic similarity")
+	fmt.Println("  remember <text>    Store a memory")
+	fmt.Println("  list               Show memory count")
+	fmt.Println("  clear              Delete all memories")
+	fmt.Println()
+	fmt.Println("Options:")
+	fmt.Println("  recall --top N           Number of results (default 5)")
+	fmt.Println("  remember --category TYPE Category: fact, preference, decision, context, other")
+	fmt.Println("  remember --tags a,b,c    Comma-separated tags")
+	fmt.Println("  clear --yes              Skip confirmation prompt")
+}
diff --git a/cmd/picoclaw/main.go b/cmd/picoclaw/main.go
index 1e4b393f8..b0aa8de39 100644
--- a/cmd/picoclaw/main.go
+++ b/cmd/picoclaw/main.go
@@ -115,6 +115,8 @@ func main() {
 		authCmd()
 	case "cron":
 		cronCmd()
+	case "memory":
+		memoryCmd()
 	case "skills":
 		if len(os.Args) < 3 {
 			skillsHelp()
@@ -185,6 +187,7 @@ func printHelp() {
 	fmt.Println("  status      Show picoclaw status")
 	fmt.Println("  cron        Manage scheduled tasks")
 	fmt.Println("  migrate     Migrate from OpenClaw to PicoClaw")
+	fmt.Println("  memory      Query and manage semantic memory store")
 	fmt.Println("  skills      Manage skills (install, list, remove)")
 	fmt.Println("  version     Show version information")
 }