# Audio-visual Navigation on Replica 1.0 (Unheard) Source: [Audio-visual Navigation on Replica 1.0 (Unheard)]() Collection index: [llms.txt]() Data updated: 2026-04-08T07:42:13.215Z Evaluation of Audio-visual Navigation performance on the Replica 1.0 Unheard dataset, reporting SPL, SR, and SNA. 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. | Scope | Recorded value | | --- | --- | | Task | Audio-visual Navigation | | Dataset (including any stated split) | Replica 1.0 (Unheard) | | Metric | SPL | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 27 of 27 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [SPL](): Higher is better; unit: SCALAR. - [SR](): Higher is better; unit: PERCENT. - [SNA](): Higher is better; unit: SCALAR. ## Recorded results | Method | SPL | Result date | Report paper | | --- | --- | --- | --- | | AV-WaN + BDATP | 49.9 | Not recorded | 69d5e11f7d0172140ec75aec | | ORAN | 46.7 | Not recorded | 69d5e11f7d0172140ec75aec | | Dav-NaV | 45.6 | Not recorded | 69d5e11f7d0172140ec75aec | | AV-NaV + BDATP | 45 | Not recorded | 69d5e11f7d0172140ec75aec | | SACF | 43.9 | Not recorded | 69d33e0e7d0172140ec736e3 | | SA2GVAN | 43.4 | Not recorded | 69d5e11f7d0172140ec75aec | | RAVN | 40.3 | Not recorded | 69d33e0e7d0172140ec736e4 | | AV-Nav | 36.8 | Not recorded | 69d33e0e7d0172140ec736e4 | | AGSA | 36.6 | Not recorded | 69d33e0e7d0172140ec736e3 | | SACF | 36 | Not recorded | 69d33e0e7d0172140ec736e3 | | SoundSpaces | 34.7 | Not recorded | 69d33e0e7d0172140ec736e3 | | AV-NaV | 34.7 | Not recorded | 69d5e11f7d0172140ec75aec | | AV-WaN | 34.7 | Not recorded | 69d5e11f7d0172140ec75aec | | SAVi | 27.5 | Not recorded | 69d5e11f7d0172140ec75aec | | SoundSpaces | 24.9 | Not recorded | 69d33e0e7d0172140ec736e3 | | Supervised Waypoints | 14.1 | Not recorded | 69d33e0e7d0172140ec736e3 | | Supervised Waypoints | 14.1 | Not recorded | 69d33e0e7d0172140ec736e4 | | Direction Follower | 11.1 | Not recorded | 69d33e0e7d0172140ec736e3 | | Direction Follower | 11.1 | Not recorded | 69d33e0e7d0172140ec736e4 | | Direction Follower | 11.1 | Not recorded | 69d5e11f7d0172140ec75aec | | Gan et al. | 7.5 | Not recorded | 69d33e0e7d0172140ec736e3 | | Gan et al. | 7.5 | Not recorded | 69d33e0e7d0172140ec736e4 | | Frontier Waypoints | 6.5 | Not recorded | 69d33e0e7d0172140ec736e3 | | Frontier Waypoints | 6.5 | Not recorded | 69d33e0e7d0172140ec736e4 | | Random | 4.9 | Not recorded | 69d33e0e7d0172140ec736e3 | | Random Agent | 4.9 | Not recorded | 69d33e0e7d0172140ec736e4 | | Random Agent | 4.9 | Not recorded | 69d5e11f7d0172140ec75aec | ### AV-WaN + BDATP SPL: 49.9. Result ID: 69d606cc47f34ce924be47bc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"module":"BDATP"}. This record does not assert independent reproduction. ### ORAN SPL: 46.7. Result ID: 69d606cc47f34ce924be47b8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Dav-NaV SPL: 45.6. Result ID: 69d606cc47f34ce924be47b6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### AV-NaV + BDATP SPL: 45. Result ID: 69d606cc47f34ce924be47ba. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"module":"BDATP"}. This record does not assert independent reproduction. ### SACF SPL: 43.9. Result ID: 69d361e847f34ce924bad9f1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### SA2GVAN SPL: 43.4. Result ID: 69d606cc47f34ce924be47b7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RAVN SPL: 40.3. Result ID: 69d3620747f34ce924bada81. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### AV-Nav SPL: 36.8. Result ID: 69d3620747f34ce924bada80. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### AGSA SPL: 36.6. Result ID: 69d361e847f34ce924bad9f0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### SACF SPL: 36. Result ID: 69d361e847f34ce924bada05. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"RGB"}. This record does not assert independent reproduction. ### SoundSpaces SPL: 34.7. Result ID: 69d361e847f34ce924bad9ef. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### AV-NaV SPL: 34.7. Result ID: 69d606cc47f34ce924be47b9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### AV-WaN SPL: 34.7. Result ID: 69d606cc47f34ce924be47bb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SAVi SPL: 27.5. Result ID: 69d606cc47f34ce924be47b5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SoundSpaces SPL: 24.9. Result ID: 69d361e847f34ce924bada04. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"RGB"}. This record does not assert independent reproduction. ### Supervised Waypoints SPL: 14.1. Result ID: 69d361e847f34ce924bad9ed. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### Supervised Waypoints SPL: 14.1. Result ID: 69d3620747f34ce924bada7e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Direction Follower SPL: 11.1. Result ID: 69d361e847f34ce924bad9eb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### Direction Follower SPL: 11.1. Result ID: 69d3620747f34ce924bada7d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Direction Follower SPL: 11.1. Result ID: 69d606cc47f34ce924be47b4. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Gan et al. SPL: 7.5. Result ID: 69d361e847f34ce924bad9ee. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### Gan et al. SPL: 7.5. Result ID: 69d3620747f34ce924bada7f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Frontier Waypoints SPL: 6.5. Result ID: 69d361e847f34ce924bad9ec. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### Frontier Waypoints SPL: 6.5. Result ID: 69d3620747f34ce924bada7c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Random SPL: 4.9. Result ID: 69d361e847f34ce924bad9ea. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Setting":"Depth"}. This record does not assert independent reproduction. ### Random Agent SPL: 4.9. Result ID: 69d3620747f34ce924bada7b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Random Agent SPL: 4.9. Result ID: 69d606cc47f34ce924be47b3. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.