@inproceedings{kim2026serf,
  author = {Sunghwan Kim and Byeonghyun Pak and Kehan Long and Yulun Tian and Nikolay Atanasov},
  title = {{SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation}},
  booktitle = {Conference on Robot Learning (CoRL)},
  year = {2026},
  url = {https://arxiv.org/abs/2606.12956}
}