AVALON: Zero-Shot Indoor Navigation with Human-Seeded Topological Memory
arXiv:2610.21586v1 Announce Type: cross Abstract: Indoor service robots often enter unmapped buildings whose layouts and task constraints are already familiar to users. We address this human-familiar, robot-unseen setting with AVALON, a topological navigation framework organized around human-seeded layered spatial memory, node-verified topological execution, and task-triggered, evidence-gated human--robot memory co-updating. The robot has no prior on-site traversal or site-specific training. De…