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HitMem: Hierarchical Temporal 3D Memory with Multi-Modal Context-Aware Retrieval for Dynamic Environments

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Executing long-term tasks in dynamic environments requires embodied agents to maintain robust and adaptive 3D scene representations. However, most existing 3D memory frameworks rely on static world assumptions. When objects are displaced by human activities or unobserved events, agents encounter memory-observation conflicts and often require costly geometric recomputations or inefficient global re-exploration. To address this, we propose HitMem, a hierarchical temporal 3D memory framework with a multi-modal context-aware retrieval mechanism. Through continuous perception, HitMem unifies semant

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