Before revision:  Through our broad set of experiments, we show that ESM provides a general computation graph for embodied spatial reasoning, and the module forms a bridge between real-time mapping systems and differentiable memory architectures. 
After revision:  Through our broad set of experiments, we show that ESM provides a general computation graph for embodied spatial reasoning, and the module forms a bridge between real-time mapping systems and differentiable memory architectures. Implementation at: URL