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- 处理: 74 个 .md 文件
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  - plans/PRISM/.research/readmes/3d-llm.md
  - plans/PRISM/.research/readmes/openmask3d.md
  - plans/PRISM/.research/readmes/openscene.md
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plans/PRISM/.research/readmes/3d-llm.md
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---
title: "3d llm"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "arXiv"]
categories: ["worldmodel"]
---
<br />
<p align="center">
<h1 align="center">3D-LLM: Injecting the 3D World into Large Language Models (NeurIPS 2023 Spotlight) </h1>
plans/PRISM/.research/readmes/clio.md
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---
title: "Clio"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "Gaussian Splatting", "机器人", "评测"]
categories: ["worldmodel"]
---
# Clio
This repository contains the code for *Clio: Real-time Task-Driven Open-Set 3D Scene Graphs*.
plans/PRISM/.research/readmes/concept-graphs.md
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---
title: "ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "导航", "iOS"]
categories: ["worldmodel"]
---
<!-- src: https://raw.githubusercontent.com/concept-graphs/concept-graphs/main/README.md -->
# ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
plans/PRISM/.research/readmes/conceptfusion.md
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---
title: "ConceptFusion: Open-set Multimodal 3D Mapping"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "Web", "arXiv"]
categories: ["worldmodel"]
---
<!-- src: https://raw.githubusercontent.com/concept-fusion/concept-fusion/main/README.md -->
# ConceptFusion: Open-set Multimodal 3D Mapping
plans/PRISM/.research/readmes/hov-sg.md
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---
title: "HOV-SG"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "导航", "评测"]
categories: ["worldmodel"]
---
<!-- src: https://raw.githubusercontent.com/hovsg/HOV-SG/main/README.md -->
# HOV-SG
plans/PRISM/.research/readmes/ok-robot.md
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---
title: "`OK-Robot`"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "导航", "iOS"]
categories: ["worldmodel"]
---
[![Intro image](https://github.com/ok-robot/ok-robot/assets/156981262/5634372e-9820-4681-bb1a-1c14541c229c)](https://ok-robot.github.io)
plans/PRISM/.research/readmes/openmask3d.md
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---
title: "openmask3d"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "arXiv"]
categories: ["worldmodel"]
---
<!-- src: https://raw.githubusercontent.com/OpenMask3D/openmask3d/master/README.md -->
<p align="center">
plans/PRISM/.research/readmes/openscene.md
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---
title: "openscene"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "arXiv"]
categories: ["worldmodel"]
---
<!-- src: https://raw.githubusercontent.com/pengsongyou/openscene/main/README.md -->
<!-- PROJECT LOGO -->
plans/PRISM/00_overview.md
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---
title: "Chapter 00 — 总览与命名由来"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "VIO", "机器人", "iOS"]
categories: ["worldmodel"]
---
# Chapter 00 — 总览与命名由来
> **PRISM** = **P**rior-**R**egistered **I**ntegrated **S**patial **M**emory
plans/PRISM/01_capability_decomposition.md
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---
title: "Chapter 01 — 两方案能力解构"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "iOS", "RoomPlan"]
categories: ["worldmodel"]
---
# Chapter 01 — 两方案能力解构
> 本章目标：把 iPhone 与 ZED 2i 两个采集方案**逐项拆开**，建立"谁该干什么"的明确边界，作为后续所有分层决策的依据。
plans/PRISM/02_architecture.md
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---
title: "Chapter 02 — 四层空间记忆架构"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "点云", "机器人"]
categories: ["worldmodel"]
---
# Chapter 02 — 四层空间记忆架构
> 本章目标：把机器人大脑里的"空间记忆"拆成 **L1–L4 四层**，逐层说清楚：**存什么 / 怎么存 / 谁写 / 谁读 / 何时过期。**
plans/PRISM/03_data_schema.md
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---
title: "Chapter 03 — 统一数据模型 (SpatialMemory Schema)"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "iOS", "数据结构"]
categories: ["worldmodel"]
---
# Chapter 03 — 统一数据模型 (SpatialMemory Schema)
> 本章目标：给出 **可直接复制运行** 的 Python schema、磁盘目录布局、JSON/USD 序列化规范，作为 PRISM 全系统的"数据宪法"。
plans/PRISM/04_pipeline_A_iphone_offline.md
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---
title: "Chapter 04 — 管线 A：iPhone 离线建图"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "点云", "Gaussian Splatting", "iOS"]
categories: ["worldmodel"]
---
# Chapter 04 — 管线 A：iPhone 离线建图
> 本章目标：把 iPhone Pro 扫描得到的 **USDZ / RoomPlan JSON / 原始 ARKit 数据**，转换为 PRISM 的 **`SpatialMemory` 长期记忆 LTM**，包括 L2 度量 + L3 拓扑 + L4 语义。
plans/PRISM/05_pipeline_B_relocalization.md
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---
title: "Chapter 05 — 管线 B：ZED 2i 重定位握手"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "VIO", "点云", "机器人"]
categories: ["worldmodel"]
---
# Chapter 05 — 管线 B：ZED 2i 重定位握手
> 本章目标：机器人上电后，**用 ZED 2i 当前观测把自己"安放"到 iPhone 先验地图的 `map` 坐标系里**——这是两个方案能合体的"握手时刻"。
plans/PRISM/06_pipeline_C_online_perception.md
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---
title: "Chapter 06 — 管线 C：在线感知与差异检测"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "IMU", "机器人", "ZED2i"]
categories: ["worldmodel"]
---
# Chapter 06 — 管线 C：在线感知与差异检测
> 本章目标：机器人已定位（Chapter 05 完成）后，**把 ZED 2i 30 Hz 流式数据持续写入 L1/L2，并在与 LTM 不一致时记录到 `delta/`**，但**不直接修改 LTM**（修改交给 Chapter 07 的巩固阶段）。
plans/PRISM/07_pipeline_D_consolidation.md
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---
title: "Chapter 07 — 管线 D：记忆巩固 (Memory Consolidation)"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "Gaussian Splatting", "机器人"]
categories: ["worldmodel"]
---
# Chapter 07 — 管线 D：记忆巩固 (Memory Consolidation)
> 本章目标：机器人**充电 / 空闲**时跑一次"睡眠"，把 `delta/pending.jsonl` 中**反复确认**的变化真正写入 LTM，并淘汰过时锚点、重训 3DGS、版本化备份。
plans/PRISM/08_runtime_timeline.md
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---
title: "Chapter 08 — 端到端运行时序"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "iOS", "ZED2i"]
categories: ["worldmodel"]
---
# Chapter 08 — 端到端运行时序
> 本章目标：把 Chapter 04–07 的四个管线**串成一条完整的时间线**，用一个具体酒店场景的"剧本"展示 PRISM 如何在 T0 到 T4 的全生命周期工作。
plans/PRISM/09_roadmap.md
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---
title: "Chapter 09 — 实施路线图（8 周原型 + 4 个月生产）"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "iOS", "评测"]
categories: ["worldmodel"]
---
# Chapter 09 — 实施路线图（8 周原型 + 4 个月生产）
> 本章目标：把 PRISM 从"文档"变成"能跑的代码"。给出**8 周原型计划**（达到 demo 可演示）+ **4 个月生产计划**（达到上线可交付）。
plans/PRISM/10_tech_stack.md
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---
title: "Chapter 10 — 技术栈选型"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "VIO", "点云"]
categories: ["worldmodel"]
---
# Chapter 10 — 技术栈选型
> 本章目标：把前面章节涉及的所有"软件 / 算法 / 模型"按层级列出，给出**版本号、依赖关系、为什么选它**，让团队拿到这章就能搭出可复现的环境。
plans/PRISM/11_world_model_bridge.md
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---
title: "Chapter 11 — 与世界模型 (World Model) 的衔接"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "物理", "规划"]
categories: ["worldmodel"]
---
# Chapter 11 — 与世界模型 (World Model) 的衔接
> 本章目标：说明 PRISM 输出的"空间记忆"如何被 **M-JEPA / DreamerV3 / Genie / NVIDIA Cosmos** 等世界模型消化，又如何回写到 PRISM——形成 **"感知 → 记忆 → 想象 → 验证"** 的闭环。
plans/PRISM/12_risks.md
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---
title: "Chapter 12 — 风险与对策"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "隐私", "iOS"]
categories: ["worldmodel"]
---
# Chapter 12 — 风险与对策
> 本章目标：把 PRISM 全系统在**采集 / 部署 / 运行 / 长期维护**四个阶段可能出问题的地方系统化列出，并给出每项的**缓解措施 / 监控指标 / 应急预案**。
plans/PRISM/13_evaluation.md
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---
title: "Chapter 13 — 评测指标"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "iOS", "评测"]
categories: ["worldmodel"]
---
# Chapter 13 — 评测指标
> 本章目标：给出 PRISM **每一层、每一管线**的客观评测指标、测试数据集、自动化脚本，确保"做得对"而不是"看起来对"。
plans/PRISM/14_mvp.md
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---
title: "Chapter 14 — 最小可复现 demo (MVP)"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "Gaussian Splatting", "iOS", "ZED2i"]
categories: ["worldmodel"]
---
# Chapter 14 — 最小可复现 demo (MVP)
> 本章目标：把 PRISM 浓缩成 **5 个核心步骤**，让任何具备基础工程能力的开发者，**用一个周末** 就能跑通"iPhone 扫描 → ZED 重定位 → 实时感知 → 一次记忆事件 → 简单查询"的全闭环。
plans/PRISM/15_glossary.md
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---
title: "Chapter 15 — 缩略语表 (Glossary)"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "VIO", "IMU"]
categories: ["worldmodel"]
---
# Chapter 15 — 缩略语表 (Glossary)
> 本章目标:全书所有缩略语和专有术语的统一速查表,按 **A–Z** 排序。每条给出**全称**、**中文释义**、**首次/重点出现章节**。
plans/PRISM/16_stats.md
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---
title: "Chapter 16 — 文档与代码统计 (Stats)"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆"]
categories: ["worldmodel"]
---
# Chapter 16 — 文档与代码统计 (Stats)
> 本章自动生成,反映本 PRISM 文档集在**构建时**的体量、结构与代码资产。每次 `bash build_book.sh` 都会刷新。
plans/PRISM/17_changelog.md
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---
title: "Chapter 17 — 变更日志 (Changelog)"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "数据结构", "综述"]
categories: ["worldmodel"]
---
# Chapter 17 — 变更日志 (Changelog)
> 本章直接镜像项目根的 [`CHANGELOG.md`](CHANGELOG.md);**当前版本 v1.5.0, 构建于 2026-05-17**。 每次发版时由 [`tools/gen_changelog_chapter.py`](tools/gen_changelog_chapter.py) 自动同步到 PDF。
plans/PRISM/18_lyra_inspirations.md
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---
title: "Chapter 18 — Lyra 2.0 启发的设计原则"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "点云", "综述"]
categories: ["worldmodel"]
---
# Chapter 18 — Lyra 2.0 启发的设计原则
> 本章目标：把 Lyra 2.0（Self-Distillation Bootstraps 3D World Models from 2D Video Diffusion, 2025）译读 [`research/lyra2_review.md`](../../research/lyra2_review.md) 第 8.4 节归纳出的 **3 条核心思想** 正式纳入 PRISM 设计哲学——分别约束 **L2 ↔ L3 ↔ L4 的写入语义**、**SpatialMemory 的证据保留策略** 与 **Pipeline D 的巩固训练范式**。本章是 PRISM v1.5.0 的新增内容。
plans/PRISM/19_v2_brain_inspired_upgrade.md
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---
title: "Chapter 19 — PRISM 2.0：仿脑空间记忆架构升级"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "重定位", "酒店场景"]
categories: ["worldmodel"]
---
# Chapter 19 — PRISM 2.0：仿脑空间记忆架构升级
> 本章目标：基于人类空间记忆的神经科学机制（详见 [`research/human_spatial_memory.md`](../../research/human_spatial_memory.md)），将 PRISM 从 v1.5 升级到 v2.0。逐模块给出设计原理、伪代码/接口、与现有架构的衔接方式。
plans/PRISM/CHANGELOG.md
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---
title: "Changelog"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "数据结构", "综述", "变更日志"]
categories: ["worldmodel"]
---
# Changelog
> PRISM 项目变更日志。遵循 [Keep a Changelog](https://keepachangelog.com/zh-CN/1.1.0/) 风格,版本号遵循 [SemVer](https://semver.org/lang/zh-CN/) (MAJOR.MINOR.PATCH)。
plans/PRISM/README.md
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---
title: "PRISM"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "机器人", "导航"]
categories: ["worldmodel"]
---
# PRISM
## **P**rior-**R**egistered **I**ntegrated **S**patial **M**emory
### —— 一种融合 iPhone 先验地图与 ZED 2i 在线感知的机器人空间记忆架构
plans/PRISM/comparison.md
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---
title: "PRISM 同档项目对比综述"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "机器人", "API", "iOS"]
categories: ["worldmodel"]
---
# PRISM 同档项目对比综述
> **范围**:对 `rate_industry.md` 第 3.1 节列出的 4 个项目 (ConceptGraphs / HOV-SG / OpenScene / 3D-LLM) 做技术深读,并扩展加入 4 个**强相关项目** (OK-Robot / Clio / ConceptFusion / OpenMask3D),共 8 个对比对象。
plans/PRISM/rate.md
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---
title: "PRISM 技术难度评分"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "VIO", "NeRF"]
categories: ["worldmodel"]
---
# PRISM 技术难度评分
> **总分：62 / 100**
plans/PRISM/rate_industry.md
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---
title: "PRISM 对机器人行业贡献的评分"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "SLAM", "点云", "NeRF"]
categories: ["worldmodel"]
---
# PRISM 对机器人行业贡献的评分
> **总分：48 / 100**（假设项目全部完成,真机部署 + 开源 + 至少 1 篇顶会论文)
plans/PRISM/robot_brain_spatial_memory.md
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---
title: "🌈 PRISM —— 机器人大脑空间记忆架构"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "IMU", "机器人", "导航"]
categories: ["worldmodel"]
---
# 🌈 PRISM —— 机器人大脑空间记忆架构
> 这个文件已演化为 **PRISM 项目** 的总入口索引页。