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GEM-Occ

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

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Management
T2 Dynamic Memory
Memory changes during deployment through a stable management policy.
Primary modality
Embodied & 3D
Also: Image
Representation
Hybrid
geometry-linked hierarchical occupancy graph

How experience becomes memory

Each path is one memory component, traced from what is stored to how it is found again.

  1. semantic Gaussian occupancy and free-space evidence

    1. Represented asModality-specific encodings & geometric stateSource- and modality-specific
    2. Stored inHierarchical multi-tier store, Graph / relational store
    3. Retrieved byMetadata / spatiotemporal retrieval, Structure traversal
    4. Source evidenceSource not retained
    Transient geometry is fused into persistent semantic Gaussian occupancy memory.Full paper: Additional Method Details · PDF p. 12

  2. local caches, room submaps, and building graph

    1. Represented asSpatial, temporal & cross-modal structured memoryCross-represented explicit
    2. Stored inHierarchical multi-tier store, Graph / relational store
    3. Retrieved byStructure traversal
    4. Source evidenceSource not retained
    Memory is organized across local, room, and building levels.Full paper: Method · PDF p. 2

How memory changes (T2 operations)

  • Revision · Rule-based state correction

    Visibility- and uncertainty-aware causal updates revise occupancy evidence. For GEM-Occ, this specifically supports fixed-rule correction of stored state of semantic Gaussian occupancy and free-space evidence.

  • Reorganization · Memory-level migration (short- to long-term)

    Evidence is fused from local caches into room submaps and a building graph. For GEM-Occ, this specifically supports migration between memory tiers of semantic Gaussian occupancy and free-space evidence.

  • Consolidation · Merging & deduplication

    During operation, GEM-Occ applies merging or deduplication of overlapping entries to semantic Gaussian occupancy and free-space evidence; the memory state changes while the governing update policy remains fixed.

  • Forgetting · Discrete eviction

    During operation, GEM-Occ applies explicit deletion or eviction of stored items to semantic Gaussian occupancy and free-space evidence; the memory state changes while the governing update policy remains fixed.

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