GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
Embodied agents exploring indoor environments require reliable semantic occupancy memory that persists across observations and revisits. Building such memory is challenging because each observation provides incomplete and uncertain geometric and semantic evidence. We introduce GEM-Occ, a Gaussian Evidence Memory framework that consolidates evidence accumulated over time into persistent semantic occupancy memory. Local predictions are converted into occupied semantic Gaussians and free-space ray evidence. Confidence- and visibility-aware causal updates integrate supporting observations, suppress occupancy contradicted by observed free space, and preserve previously observed structures thro...
| Authors | Hu Zhu, Bohan Li, Xianda Guo et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 July 2026 |
| Last updated at source | 5 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.