Spatial Memory Agent: Experience-Grounded Procedure Memory for Spatial Intelligence

Spatial intelligence is becoming a foundation for embodied agents, robotic planning, and multimodal assistants. To improve the spatial reasoning ability of VLMs, existing work has mainly followed two lines. One line uses post-training methods, such as supervised fine-tuning and reinforcement learning. Another line adopts an agentic paradigm in which the model calls external spatial tools to gather intermediate spatial evidence. We study a complementary and underexplored route: Can a frozen VLM agent improve its spatial reasoning through parameter-update-free self-evolution, without depending on external expert spatial tools at inference time? We present Spatial Memory Agent (SMA), an experience-grounded runtime memory framework that converts verified spatial experience into reusable transferable lessons. Specifically, SMA first queries the frozen VLM in a verifiable spatial environment, obtains a predicted answer and reward, and uses verifier-guided reflection to distill compact transferable lessons stored in memory cards. SMA further assigns each memory card a Transfer Reliability Score (TRS), which is initialized uniformly and calibrated from later retrieval outcomes as visit evidence of future transfer reliability. During read-only deployment, SMA retrieves memory cards through semantic filtering and combined similarity--TRS ranking, allowing the retrieved memory to guide frozen model inference. Experiments across five representative spatial benchmarks show that SMA achieves the best macro-average accuracy for all four base VLMs and the best accuracy in most individual evaluations, establishing a practical parameter-update-free path for spatial self-evolution through reusable experience.