@article{serfspatiotemporalenvironmentandrobotfea,
  title = {SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation},
  author = {Sunghwan Kim and Byeonghyun Pak and Kehan Long and Yulun Tian and Nikolay Atanasov},
  year = {2026},
  eprint = {2606.12956},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.12956},
}