3D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning

Figure 1. With 3D-Mem, explored regions are represented by a set of Memory Snapshots capturing clusters of co-visible objects, i.e., the objects observable in a single image observation, along with their spatial relationships and background context, as shown in the bottom-left example. Unexplored regions are represented by navigable frontiers along with image observations, referred to as Frontier Snapshots.