VTM-Nav: Harnessing Cross-Episode Experience for Object-Goal Navigation with Hierarchical Visual-Topological Memory
Training-free ObjectNav agents increasingly use vision-language models (VLMs), yet typically discard acquired scene knowledge after each request. We study cross-episode ObjectNav, where each request is an independently initialized, single-goal episode and only self-acquired, scene-scoped memory persists across episodes. We ask whether an agent with fixed model parameters and navigation components can reuse such experience without retraining or oracle information. We introduce \method, a training-free framework with a persistent Hierarchical Visual-Topological Memory (VTM). VTM uses a coarse room topology to index room-owned visual memories, distinguishes in-room from remote-visible eviden...
| Authors | Xiaoran Xu, Yupeng Wu, Tianyu Xue et al. |
|---|---|
| Primary category | cs.CV |
| Published | 16 July 2026 |
| Last updated at source | 24 July 2026 |
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