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HTCE: Topological Cross-Scene Experience Reuse for Object Navigation
HTCE is a homeomorphism-inspired framework that canonicalizes and reuses navigation experience across scenes for embodied object-goal navigation. It compresses stored route descriptions by 17.7–23.6% without performance loss and achieves state-of-the-art success and SPL on HM3D and MP3D benchmarks under a frozen vision-language policy. The method improves success rate by up to 4.9 points and SPL by up to 2.8 points.
Why it matters: This paper presents a novel topological approach to experience reuse in embodied AI, with concrete benchmark gains and open-source code, offering practical value for navigation research.
Object Goal NavigationTopological LearningExperience Reuse