LT-Mem: 変動を考慮した時空間メモリによる生涯シーン理解

原文アブストラクト

Long-term robot operation in evolving environments requires object-level understanding that persists across repeated revisits. Existing systems either overwrite history to maintain an up-to-date map or store semantic snapshots without consistent cross-session object identity, resulting in temporal amnesia: the systematic loss of object history that prevents answering queries such as "Where has the green chair been across all sessions?" We propose LT-Mem, a volatility-aware memory evolution framework that unifies spatially aligned instance-level 3D perception with volatility-conditioned temporal reasoning. First, a multi-session SLAM backbone provides spatially aligned per-object observations across sessions. Second, a reasoning layer governs how object memory evolves: deterministic evidence scoring preserves cross-session identity, and a volatility-aware policy selects among overwrite, hold, and multi-hypothesis actions based on each object's dynamics. Third, the resulting Tri-Memory structure (Live, Delta, Meta) preserves both current states and event histories, enabling longitudinal object-centric reasoning. We further introduce LT-VQA, a dataset and evaluation suite comprising multi-session recordings, persistent identity annotations, and temporal QA pairs. Experiments show that LT-Mem consistently outperforms baselines across all metrics while consuming an order of magnitude fewer tokens, and ablations confirm that gains are driven by the structured memory architecture rather than LLM capacity.