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Main Authors:	Zhou, Haotian, Wang, Xiaole, Li, He, Qi, Zhuo, Yin, Jinrun, Kong, Haiyu, Xu, Jianghuan, Zhao, Huijing
Format:	Preprint
Published:	2025
Subjects:	Robotics Artificial Intelligence
Online Access:	https://arxiv.org/abs/2510.24118
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author	Zhou, Haotian Wang, Xiaole Li, He Qi, Zhuo Yin, Jinrun Kong, Haiyu Xu, Jianghuan Zhao, Huijing
author_facet	Zhou, Haotian Wang, Xiaole Li, He Qi, Zhuo Yin, Jinrun Kong, Haiyu Xu, Jianghuan Zhao, Huijing
contents	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
format	Preprint
id	arxiv_https___arxiv_org_abs_2510_24118
institution	arXiv
publishDate	2025
record_format	arxiv
spellingShingle	LagMemo: Language 3D Gaussian Splatting Memory for Multi-modal Open-vocabulary Multi-goal Visual Navigation Zhou, Haotian Wang, Xiaole Li, He Qi, Zhuo Yin, Jinrun Kong, Haiyu Xu, Jianghuan Zhao, Huijing Robotics Artificial Intelligence 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
title	LagMemo: Language 3D Gaussian Splatting Memory for Multi-modal Open-vocabulary Multi-goal Visual Navigation
topic	Robotics Artificial Intelligence
url	https://arxiv.org/abs/2510.24118

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// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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