@article{mlfmmultilayeredfeaturemapsforricherlang,
  title = {MLFM: Multi-Layered Feature Maps for Richer Language Understanding in Zero-Shot Semantic Navigation},
  author = {Sonia Raychaudhuri and Enrico Cancelli and Tommaso Campari and Lamberto Ballan and Manolis Savva and Angel X. Chang},
  year = {2025},
  eprint = {2507.07299},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.07299},
}