HIOcc
GEM-Occ: From Visual Geometry Evidence to Embodied Semantic Occupancy Memory
Hu Zhu, Bohan Li, Xianda Guo, Hongsi Liu, Baorui Peng, Mingqi Yuan, et al. · 2026-07-06
- Modality
- Embodied & 3D
- Data
- Real data
- Task · ground truth
- Map · Reg.+State
- Scope
- Benchmark with memory tracks
What it tests
- CECross-modal evidencePartially evaluated
- LELong-range evidenceDirectly evaluated
- SCState changesPartially evaluated
- CFConflicting memoriesNot evaluated
- UQUnanswerable queriesNot evaluated
- MAMemory-grounded actionNot evaluated
- SMSpatial memoryDirectly evaluated
- OSObject-state trackingPartially evaluated
- TSTask-state trackingNot evaluated
Survey notes
Causal map accumulation and revisit consistency directly probe persistent spatial memory.