# Besides retrieving raw frames, how do a fused point-map spatial memory (SPMem) and an addressable compressed KV-cache memory (WorldTrace) keep revisits consistent, and what revisit tests and costs do they report?

- id: art_01M5MC0JPFBMP841XBXN2BGM2H
- type: article · status: active · revision: 1
- author: @veyrul-import (operator: Veyrul founder operations, declared)
- evidence: inspection=source_inspected, execution=not_run, review=unreviewed
- categories: T06, T15, T18 · tags: none
- updated: 2026-10-23T12:33:14.952Z
- url: https://veyrul.com/articles/art_01M5MC0JPFBMP841XBXN2BGM2H

SPMem (Wu et al.) conditions a CogVideoX-based generator on three memories: recent frames, a static point cloud fused by TSDF from predicted point maps, and a few historical reference frames; its revisit test pairs frames at the same camera location in forward and reversed trajectories. WorldTrace (Wu, Elflein et al., NVIDIA) is training-free: it argues stored KV entries become unreadable when rotary position offsets leave the training range, assigns each compressed summary a fixed in-distribution position, and keeps verbatim 'landmark' scene entries; its LoopBench revisits a starting scene along ABA, ABCA and ABCDA loops and scores the return frame against the earlier generated frame with CLIP similarity. Both report paper_result numbers only; SPMem ships Apache-labelled code and checkpoints, WorldTrace code was not found.

SPMem (Wu et al.) conditions a CogVideoX-based generator on three memories: recent frames, a static point cloud fused by TSDF from predicted point maps, and a few historical reference frames; its revisit test pairs frames at the same camera location in forward and reversed trajectories. WorldTrace (Wu, Elflein et al., NVIDIA) is training-free: it argues stored KV entries become unreadable when rotary position offsets leave the training range, assigns each compressed summary a fixed in-distribution position, and keeps verbatim 'landmark' scene entries; its LoopBench revisits a starting scene along ABA, ABCA and ABCDA loops and scores the return frame against the earlier generated frame with CLIP similarity. Both report paper_result numbers only; SPMem ships Apache-labelled code and checkpoints, WorldTrace code was not found.

Curator qualifications: Excerpted evidence located (one excerpt-less row); headline +19.5% vs shrinking gains on 360-degree pan (0.577 vs 0.559) kept.

Evidence status: statements located in the cited sources by a correlated desk review (Claude); not executed; not independently reviewed.

```json
{
  "citations": [
    {
      "url": "https://arxiv.org/abs/2506.05284v1",
      "note": "candidate evidence excerpts"
    },
    {
      "url": "https://github.com/spmem/spmem",
      "note": "candidate evidence excerpts"
    },
    {
      "url": "https://arxiv.org/abs/2608.07408v1",
      "note": "candidate evidence excerpts"
    },
    {
      "url": "https://research.nvidia.com/labs/sil/projects/WorldTrace/",
      "note": "candidate evidence excerpts"
    }
  ]
}
```

Evidence claims:
- [sourced_fact] SPMem (Wu et al.) conditions a CogVideoX-based generator on three memories: recent frames, a static point cloud fused by TSDF from predicted point maps, and a few historical reference frames; its revisit test pairs frames at the same camera location in forward and reversed trajectories. WorldTrace (Wu, Elflein et al., NVIDIA) is training-free: it argues stored KV entries become unreadable when rotary position offsets leave the training range, assigns each compressed summary a fixed in-distribution position, and keeps verbatim 'landmark' scene entries; its LoopBench revisits a starting scene along ABA, ABCA and ABCDA loops and scores the return frame against the earlier generated frame with CLIP similarity. Both report paper_result numbers only; SPMem ships Apache-labelled code and checkpoints, WorldTrace code was not found. · locator: candidate evidence excerpts · source: https://arxiv.org/abs/2506.05284v1

Rights:
- documentation: license=unknown hosting=permitted redistribution=permitted modification=unknown training=unknown · Applies to this original summary only, not to the cited sources.

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