# GEMS: A Long-Term Spatiotemporal Memory Framework Combining 3D Gaussian Splatting Maps with Agentic Reasoning

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fq5ki7v5x68jelfv4fsdff19f
- Original: https://arxiv.org/abs/2610.33158

## Summary

The authors propose the GEMS framework, which combines a persistent spatiotemporal 3D Gaussian Splatting (3DGS) map with an agentic reasoning pipeline. The map is reconstructed once and thereafter updated only in regions where the scene changes, with those modifications saved. Using this map, the agentic pipeline renders novel views on demand, progressively accumulates evidence to answer spatiotemporal questions, and grounds objects from natural-language queries.