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原文摘要

Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric memory is interpretable, it depends on detection and reconstruction pipelines that limit robustness and scalability. We propose an image-centric memory framework that achieves long-term implicit memory via an efficient visual context compression module end-to-end coupled with a Qwen2.5-VL-based navigation policy. Built atop a ViT backbone with frozen DINOv3 features and lightweight PixelUnshuffle+Conv blocks, our visual tokenizer reduces native vision tokens by roughly 10-20x, representing each image with about 30 tokens and allowing the agent to maintain hundreds of historical frames within a single context. Experimental results on GOAT-Bench and HM3D-OVON show that our method achieves state-of-the-art navigation performance, improving exploration in unfamiliar environments and shortening paths in familiar ones. Ablation studies further reveal that moderate compression provides the best balance between efficiency and accuracy. These findings position compressed image-centric memory as a practical and scalable interface for lifelong embodied agents, enabling them to reason over long visual histories and navigate with human-inspired efficiency.