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C-Nav

C-NAV: Towards Self-Evolving Continual Object Navigation in Open World

Ming-Ming Yu, Fei Zhu, Wenzhuo Liu, Yirong Yang, Qunbo Wang, Wenjun Wu, et al. · 2026-04-06

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Management
T1 Static Memory
Memory is built once and reused without change during deployment.
Primary modality
Embodied & 3D
Also: text, Image
Representation
Hybrid
Distinct operative representation paths are deliberately linked or jointly consumed by downstream reasoning, generation, or control.

How experience becomes memory

Each path is one memory component, traced from what is stored to how it is found again.

  1. Replayable feature representations rather than raw full trajectories

    1. Represented asModality-specific encodings & geometric stateSource- and modality-specific
    2. Stored inFlat sequential records
    3. Retrieved byMetadata / spatiotemporal retrieval, Structure traversal, Latent / parametric activation
    4. Source evidenceSource not retained
    Adaptive sampling selects representative experiences to store.; Feature replay stores compact temporal features for the action decoder.; Feature distillation preserves multimodal encoder consistency without replaying all data.. spatial query over the map conditioned on current observation and instruction.Full-paper method / memory representation and retrieval · PDF p. 6 · Figure 1 / method overview

  2. Diverse and informative navigation experiences

    1. Represented asSpatial, temporal & cross-modal structured memoryCross-represented explicit
    2. Stored inFlat sequential records
    3. Retrieved byMetadata / spatiotemporal retrieval, Structure traversal, Latent / parametric activation
    4. Source evidenceSource not retained
    Adaptive sampling selects representative experiences to store.; Feature replay stores compact temporal features for the action decoder.; Feature distillation preserves multimodal encoder consistency without replaying all data.. spatial query over the map conditioned on current observation and instruction.Full-paper method / memory representation and retrieval · PDF p. 6 · Figure 1 / method overview

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