GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation

[2608.14986] GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:2608.14986 (cs) [Submitted on 15 Aug 2026] Title: GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation Authors: Zhiqiang Hu , Shouren Huang , Masatoshi Ishikawa View a PDF of the paper titled GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation, by Zhiqiang Hu and 2 other authors View PDF HTML (experimental) Abstract: Long-horizon robotic manipulation fundamentally relies on persistent spatial memory. However, existing 3D memory systems function merely as passive recorders: they store observations using fixed, hand-crafted rules, treating every scene element--whether a critical grasp target or an irrelevant background wall--with equal importance. In this paper, we propose a paradigm shift from passive storage to active, task-driven spatial memory. We argue that a robot's memory should not simply record what it sees, but actively learn how to remember--discovering which objects to track precisely, how aggressively to update them, and what to discard, all learned end-to-end without hand-designed rules. Crucially, this active paradigm is realized by unifying memory update and readout as two sides of the same cognitive process, enabling bidirectional flow where task needs shape update strategies and vice versa. To instantiate this vision, we introduce GaussMemory, which leverages 3D Gaussian Splatting as a persistent geometric substrate. On LIBERO, GaussMemory outperforms MemoryVLA on Goal and Long-10; on VLABench, it surpasses $\pi_0$-FAST by +5.2% (Track 1) and +6.0% (Track 6). Comments: 8 pages, 10 figures. Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026) Subjects: Robotics (cs.RO) ; Artificial Intelligence (cs.AI) Cite as: arXiv:2608.14986 [cs.RO] (or arXiv:2608.14986v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.14986 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Zhiqiang Hu [ view email ] [v1] Sat, 15 Aug 2026 02:28:59 UTC (2,796 KB) Full-text links: Access Paper: View a PDF of the paper titled GaussMemory: Task-Driven 3D Gaussian Scene Memory for Long-Horizon Robotic Manipulation, by Zhiqiang Hu and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2026-08 Change to browse by: cs cs.AI References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab) Major funding support from

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