# GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning

arXiv: https://arxiv.org/abs/2603.19137 · HTML: https://mlsanity.com/paper/2603.19137/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 29 of its 34 references that are in the map.
- First posted on arXiv 19 Mar 2026.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)

## Builds on (most cited first, 29 of 29)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [GPT-4o System Card](https://mlsanity.com/paper/2410.21276/) (2024)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [BatchBALD: Efficient and Diverse Batch Acquisition for Deep Bayesian Active Learning](https://mlsanity.com/paper/1906.08158/) (2019)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fields](https://mlsanity.com/paper/2312.03203/) (2023)
- [VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation](https://mlsanity.com/paper/2312.03275/) (2023)
- [CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation](https://mlsanity.com/paper/2203.10421/) (2022)
- [Difix3D+: Improving 3D Reconstructions with Single-Step Diffusion Models](https://mlsanity.com/paper/2503.01774/) (2025)
- [SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation](https://mlsanity.com/paper/2410.08189/) (2024)
- [SED: A Simple Encoder-Decoder for Open-Vocabulary Semantic Segmentation](https://mlsanity.com/paper/2311.15537/) (2023)
- [GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigation](https://mlsanity.com/paper/2404.06609/) (2024)
- [GOAT: GO to Any Thing](https://mlsanity.com/paper/2311.06430/) (2023)
- [3D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning](https://mlsanity.com/paper/2411.17735/) (2024)
- [Explore until Confident: Efficient Exploration for Embodied Question Answering](https://mlsanity.com/paper/2403.15941/) (2024)
- [FisherRF: Active View Selection and Uncertainty Quantification for Radiance Fields using Fisher Information](https://mlsanity.com/paper/2311.17874/) (2023)
- [Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems](https://mlsanity.com/paper/2305.07154/) (2023)
- [Move to Understand a 3D Scene: Bridging Visual Grounding and Exploration for Efficient and Versatile Embodied Navigation](https://mlsanity.com/paper/2507.04047/) (2025)
- [End-to-End Navigation with Vision Language Models: Transforming Spatial Reasoning into Question-Answering](https://mlsanity.com/paper/2411.05755/) (2024)
- [TANGO: Training-free Embodied AI Agents for Open-world Tasks](https://mlsanity.com/paper/2412.10402/) (2024)
- [Occam's LGS: An Efficient Approach for Language Gaussian Splatting](https://mlsanity.com/paper/2412.01807/) (2024)
- [Online Language Splatting](https://mlsanity.com/paper/2503.09447/) (2025)
- [DyNaVLM: Zero-Shot Vision-Language Navigation System with Dynamic Viewpoints and Self-Refining Graph Memory](https://mlsanity.com/paper/2506.15096/) (2025)

## Built on by (most cited first, 5 of 5)

- [What Spatial Memory Must Store: Occlusion as the Test for Language-Agent Memory](https://mlsanity.com/paper/2606.10299/) (2026)
- [Active Spatial Inspection for Effective and Efficient Embodied Exploration](https://mlsanity.com/paper/2609.22385/) (2026)
- [CognitiveReality: Robot-Agnostic Semantic Gaussian Mapping with an LLM Agent for Immersive Collaborative VR Teleoperation](https://mlsanity.com/paper/2609.31418/) (2026)
- [Never Look Back: Understanding Persistence in 3D Object Memory from Egocentric Videos](https://mlsanity.com/paper/2610.10538/) (2026)
- [Rendering-Free Lookahead for Question-Guided Active Vision](https://mlsanity.com/paper/2610.11039/) (2026)

## Abstract (arXiv)

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 textitpost-hoc re-observability. If an initial observation misses a target, the resulting memory omission is often irrecoverable. To bridge this gap, we propose 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 textitSpatial Recollection: the ability to render photorealistic novel views from optimal, previously unoccupied viewpoints. To operationalize this, GSMem employs a retrieval mechanism that simultaneously leverages parallel object-level scene graphs and semantic-level language fields. This complementary design robustly localizes target regions, enabling the agent to ``hallucinate'' optimal views for high-fidelity Vision-Language Model (VLM) reasoning. Furthermore, we introduce a hybrid exploration strategy that combines VLM-driven semantic scoring with a 3DGS-based coverage objective, balancing task-aware exploration with geometric coverage. Extensive experiments on embodied question answering and lifelong navigation demonstrate the robustness and effectiveness of our framework