A pre-explored metric-semantic topology with depth-grounded standoffs, multi-view fusion, and sequential verification achieves high success in repeated object navigation.
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SSTG-Nav: Metric-Grounded Spatial-Semantic Topological Graphs for Reusable Object Navigation
A pre-explored metric-semantic topology with depth-grounded standoffs, multi-view fusion, and sequential verification achieves high success in repeated object navigation.