SSTG-Nav: Metric-Grounded Spatial-Semantic Topological Graphs for Reusable Object Navigation
Service robots operating for months in the same homes, offices, and facilities should become more reliable with experience instead of searching familiar space from scratch for every request. Yet ObjectNav is predominantly formulated as one-shot exploration, leaving a central deployment challenge unresolved: recognizing an object does not identify a reachable place to stop, and one confident map error can terminate the task. We introduce SSTG-Nav, a reusable metric-semantic memory that turns a one-time survey into actionable object goals, consolidates evidence across viewpoints, and retains spatially distinct recovery standoffs. On 1,000 HM3D-v2 episodes across 36 scenes, our goal-independ...
| Authors | Daojie Peng, Bingtao Wang, Jun Ma |
|---|---|
| Primary category | cs.RO |
| Published | 1 August 2026 |
| Last updated at source | 1 August 2026 |
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