# LH-AVLN: A Benchmark for Long-Horizon Audio-Visual-Language Navigation

Source: [LH-AVLN: A Benchmark for Long-Horizon Audio-Visual-Language Navigation](<https://www.sota2.com/research/paper/6a4c880a85dba69fef8b2717>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-07-22T05:00:13.060Z

Authors: Rufeng Chen, Yue Chang, Zili Shao, Zhaofan Zhang, Li Chen, Hechang Chen, Hui Xiong, Sihong Xie

Published: 2026-07-04T15:25:25.000Z

## Abstract

Embodied navigation is moving toward long-horizon missions, yet existing long-horizon benchmarks are largely acoustically silent, and audio-visual navigation tasks typically focus on a single goal. We introduce LH-AVLN, a benchmark for Long-Horizon Audio-Visual-Language Navigation that combines multi-goal mission execution, heterogeneous goal specifications, and persistent spatialized acoustic cues. In LH-AVLN, an agent receives a global mission of two to four goals specified by category, language description, or reference image, and navigates with RGB-D observations, pose, and binaural audio in indoor 3D environments. The benchmark supports both ordered and unordered missions, where alternating goal-associated sounds can guide non-line-of-sight search but may also become distractors as mission progress changes. We further develop PAG-Nav, a training-free reference agent that maintains a temporal uniform semantic map and performs progressive goal-state planning, using sound for search while reserving completion for visual-semantic verification. Experiments show that existing vision-language, memory-based, and audio-visual agents struggle to complete full LH-AVLN missions, and that PAG-Nav provides a stronger diagnostic baseline while leaving substantial room for future progress.

## Recorded benchmark results

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

- [Long-Horizon Audio-Visual-Language Navigation on LH-AVLN Ordered](<https://www.sota2.com/research/sota/long-horizon-audio-visual-language-navigation-on-lh-avln-ordered.md>): Long-Horizon Audio-Visual-Language Navigation; LH-AVLN Ordered; Success Rate (SR): 2.3.

- [Long-Horizon Audio-Visual-Language Navigation on LH-AVLN Unordered](<https://www.sota2.com/research/sota/long-horizon-audio-visual-language-navigation-on-lh-avln-unordered.md>): Long-Horizon Audio-Visual-Language Navigation; LH-AVLN Unordered; SR (Success Rate): 3.1.

## Original sources and implementation

[Original paper](<https://arxiv.org/abs/2607.03920>)

[PDF](<https://arxiv.org/pdf/2607.03920.pdf>)