Reproduce “HTCE: Homeomorphism-inspired Topological Cross-Scene Experience Canonicalization and Reuse for Object Navigation” on OpenResearch
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About this paper
Xiaoran Xu, Yupeng Wu, Tianyu Xue, Xuanran Dong, Yifan Xu, Xiaoshan Yang, Changsheng Xu
HTCE helps robots reuse successful object-goal navigation experience across homes by matching comparable route descriptions. It normalizes configurable region labels and suppresses only nonbranching intermediate passage nodes, preserving meaningful rooms, junctions, and endpoints; retrieved approaches guide a frozen vision-language policy while current views ground actions. On HM3D v0.1, it achieves 59.9% SR and 31.8% SPL, exceeding textual-memory WMNav by 3.6 and 1.5 points under the shared setup.
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