Abstract
Retrieval-augmented generation (RAG) systems have seen growing adoption in embodied settings as language-queryable memories of the environment. However, existing approaches often assume a reliable single-episode knowledge base (KB) or accumulate observations across episodes without correcting prior errors. Such errors can persist through incorrect semantic labels, inaccurate object positions, and inconsistent spatial relationships. To address this, we present SPARK, a corrective multi-episode framework for embodied RAG. After the first episode, a semantic critic flags regions of the KB, a targeted planner generates revisits, and a selective merge adds, removes, or replaces KB information based on the new observations. We evaluate SPARK on four outdoor AirSim maps under two degraded viewpoint conditions, using perception-built KBs, a visibility-constrained oracle used only for evaluation, and a fixed set of 158 embodied question answering (EQA) questions scored before and after correction. A single corrective episode improves downstream EQA on every map under both conditions while storing 13-41% fewer objects than append-only updating, with gains up to 2.7x on one map-condition pair. Extending correction through Episode 4 brings every map above the EQA performance of its undegraded reference. Ablations show that the critic's three signals each contribute to performance, that targeted revisits achieve a larger mean gain than untargeted ones under the same budget, and that selective merging achieves gains comparable to append-only updating with a smaller KB. Overall, SPARK demonstrates the value of correcting embodied memory through targeted re-observation, particularly as embodied systems scale and the risk of accumulated errors increases.
Abstract (translated)
URL
https://arxiv.org/abs/2611.00344
