ResearchBenchmarksAerial Vision-and-Language Navigation on CityNav Original Refined (val Unseen)Follow9.4Navigation Error (NE)Human-2.9280.24163.4246.56Dec 16, 2025Evaluation ResultsMethodMethodLinksNavigation Error (NE)Success Rate (SR)Overall Success Rate (OSR)Success weighted Path Length (SPL)Human2025.129.48,8399,5546,266HETTdataset_type=Refineddataset_type=Refined2025.1251.31,9103,4781,670HETTdataset_type=Originaldataset_type=Original2025.1262.11,7482,5091,446MGP2025.1273.88351,791707AerialVLN2025.1281.86791,791573Random2025.122230900CMA2025.12268.86578663Seq2Seq2025.12317.47988261