ResearchBenchmarksMemory Building and Query on Physical indoor environment 200 m2 sceneFollow1,260Build Time (s)GOAT1,142.41,936.22,7303,523.8Oct 28, 2025Evaluation ResultsMethodMethodLinksBuild Time (s)Query Latency (s)Storage (MB)GOAT2025.101,26010400VLMaps2025.102,0001.1200LagMemo2025.104,2000.5500