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P-POSEMEM: Projective Semantic Memory for Consistent Language Grounding under Pose-Graph Rewrites

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

A robot following language instructions needs its semantic memory to keep naming the same physical object while the SLAM pose graph underneath is optimized, loop-closed and compressed. Maps committing each detection to a world coordinate cannot: a closure moves the anchor it was measured from, or the solver marginalizes that anchor, and the query then selects a different object although both graphs represent the same posterior. P-POSEMEM stores each observation as an immutable event at its birth keyframe, retains the Bayes-tree elimination conditional of every marginalized keyframe, and integr

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