Author

Zihao Sun

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Preprint Aug 2026

LifelongCrossNav: Persistent 3D Semantic Memory for Cross-Floor Multi-Object Navigation

Experimental results show that LifelongCrossNav consistently outperforms a representative planar persistent semantic-map baseline on HM3D-MFMON, demonstrating that persistent 3D semantic memory and cross-floor traversability modeling effectively support sequential multi-object navigation in multi-floor environments.

Zehui Li, Zihao Sun, Jia-Wei Xu et al. · 0 citations