AVALON: Zero-Shot Indoor Navigation with Human-Seeded Topological Memory
Indoor service robots often enter unmapped buildings whose layouts and task constraints are already familiar to users. We address this human-familiar, robot-unseen setting with AVALON, a topological navigation framework organized around human-seeded layered spatial memory, node-verified topological execution, and task-triggered, evidence-gated human--robot memory co-updating. The robot has no prior on-site traversal or site-specific training. Deployment requires only a floor plan, place clues, and an initial topology-odometry alignment. Visual depth point-goal navigation leverages verified node arrivals to perform translational re-anchoring, without requiring a robot-constructed global SL...
| Authors | Jing Xia, Changyan Li, Yuduo Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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