# LagMemo: Language 3D Gaussian Splatting Memory for Multi-modal Open-vocabulary Multi-goal Visual Navigation

arXiv: https://arxiv.org/abs/2510.24118 · HTML: https://mlsanity.com/paper/2510.24118/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 43 references that are in the map.
- First posted on arXiv 28 Oct 2025.

## Builds on (most cited first, 30 of 40)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [LightGlue: Local Feature Matching at Light Speed](https://mlsanity.com/paper/2306.13643/) (2023)
- [Segment Everything Everywhere All at Once](https://mlsanity.com/paper/2304.06718/) (2023)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fields](https://mlsanity.com/paper/2312.03203/) (2023)
- [ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects](https://mlsanity.com/paper/2006.13171/) (2020)
- [A Survey on 3D Gaussian Splatting](https://mlsanity.com/paper/2401.03890/) (2024)
- [Language Embedded 3D Gaussians for Open-Vocabulary Scene Understanding](https://mlsanity.com/paper/2311.18482/) (2023)
- [VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation](https://mlsanity.com/paper/2312.03275/) (2023)
- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://mlsanity.com/paper/2403.17846/) (2024)
- [CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation](https://mlsanity.com/paper/2203.10421/) (2022)
- [InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment](https://mlsanity.com/paper/2406.04882/) (2024)
- [PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learning](https://mlsanity.com/paper/2201.10029/) (2022)
- [OpenGaussian: Towards Point-Level 3D Gaussian-based Open Vocabulary Understanding](https://mlsanity.com/paper/2406.02058/) (2024)
- [Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scale](https://mlsanity.com/paper/2204.03514/) (2022)
- [Navigating to Objects in the Real World](https://mlsanity.com/paper/2212.00922/) (2022)
- [GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation](https://mlsanity.com/paper/2404.06609/) (2024)
- [Learning to Learn How to Learn: Self-Adaptive Visual Navigation Using Meta-Learning](https://mlsanity.com/paper/1812.00971/) (2018)
- [GOAT: GO to Any Thing](https://mlsanity.com/paper/2311.06430/) (2023)
- [VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Model](https://mlsanity.com/paper/2401.02695/) (2024)
- [UniGoal: Towards Universal Zero-shot Goal-oriented Navigation](https://mlsanity.com/paper/2503.10630/) (2025)
- [Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instances](https://mlsanity.com/paper/2211.15876/) (2022)

## Built on by (most cited first, 2 of 2)

- [Memory Over Maps: 3D Object Localization Without Reconstruction](https://mlsanity.com/paper/2603.20530/) (2026)
- [Beyond the Remembered World: Predictive 4D Belief for Persistent Navigation in Evolving Worlds](https://mlsanity.com/paper/2609.39166/) (2026)

## Abstract (arXiv)

Navigating to a designated goal using visual information is a fundamental capability for intelligent robots. To address the practical demands of multi-modal, open-vocabulary goal queries and multi-goal visual navigation, we propose LagMemo, a navigation system that leverages a language 3D Gaussian Splatting memory. During a one-time exploration, LagMemo constructs a unified 3D language memory with robust spatial-semantic correlations. With incoming task goals, the system efficiently queries the memory, predicts candidate goal locations, and integrates a local perception-based verification mechanism to dynamically match and validate goals. For fair and rigorous evaluation, we curate GOAT-Core, a high-quality core split distilled from GOAT-Bench. Experimental results show that LagMemo's memory module enables effective multi-modal open-vocabulary localization, and significantly outperforms state-of-the-art methods in multi-goal visual navigation. Project page: https://weekgoodday.github.io/lagmemo