GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning
Effective embodied exploration requires agents to accumulate and retain spatial knowledge over time. However, existing scene representations, such as discrete scene graphs or static view-based snapshots, lack \textit{post-hoc re-observability}. If an initial observation misses a target, the resulting memory omission is often irrecoverable. To bridge this gap, we propose \textbf{GSMem}, a zero-shot embodied exploration and reasoning framework built upon 3D Gaussian Splatting (3DGS). By explicitly parameterizing continuous geometry and dense appearance, 3DGS serves as a persistent spatial memory that endows the agent with \textit{Spatial Recollection}: the ability to render photorealistic n...
| Authors | Yiren Lu, Yi Du, Disheng Liu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 19 March 2026 |
| Last updated at source | 19 March 2026 |
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