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The results of AhaBench make continual learning an operational target: experience should yield capabilities that remain effective as guidance, inputs, and business states change.
Experimental results show that LifelongCrossNav consistently outperforms a representative planar persistent semantic-map baseline on HM3D-MFMON, demonstrating that persistent 3D semantic memory and cross-floor traversability modeling effectively support sequential multi-object navigation in multi-floor environments.
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