LifelongCrossNav: Persistent 3D Semantic Memory for Cross-Floor Multi-Object Navigation
Object-goal navigation has made substantial progress in semantic perception and exploration, yet persistent memory for multi-object navigation and cross-floor navigation are still commonly addressed separately. We present LifelongCrossNav, a framework for sequential multi-object ObjectNav in unknown multi-floor indoor environments. Within each episode, the agent receives an ordered sequence of object-goal queries while continuously maintaining a shared sparse 3D semantic voxel memory. This memory incrementally accumulates geometric structure, traversability states, and vision-language features, allowing subsequent object-goal queries to retrieve previously acquired scene information witho...
| Authors | Zehui Li, Zihao Sun, Jiawei Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 August 2026 |
| Last updated at source | 10 October 2026 |
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