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STEGNav: Spatio-Temporal Event Graph Reasoning for Multimodal Lifelong Object Navigation

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Multimodal lifelong navigation requires an agent to autonomously explore unseen environments while sequentially completing navigation tasks specified by object categories, language descriptions, or reference images. Existing methods primarily accomplish these tasks by constructing state-centric semantic scene graphs. By treating scene graphs as persistent repositories of semantic observations, these methods struggle to distinguish similar instances, jointly represent semantic targets and exploration frontiers, and effectively exploit navigation memory and trajectory experience. To address thes

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