Backward Visual Navigation (To Start) on HM3D
96.1SRLoTIS + Obstacle Avoidance
Evaluation results
| Method | Links | ||
|---|---|---|---|
| LoTIS + Obstacle AvoidanceInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=true2026.02 | 96.1 | 90.7 | |
| LoTISInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=true2026.02 | 96.1 | 90.7 | |
| LoTIS + Obstacle AvoidanceInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=true2026.02 | 92.6 | 83.2 | |
| LoTISInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=true2026.02 | 92.6 | 83.2 | |
| LoTIS + Obstacle AvoidanceInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=true2026.02 | 86.8 | 76.2 | |
| LoTISInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=true2026.02 | 86.8 | 76.2 | |
| LoTIS + Obstacle AvoidanceInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=true2026.02 | 84.8 | 80.2 | |
| LoTISInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=true2026.02 | 84.8 | 80.2 | |
| LoTISInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 81.9 | 79.4 | |
| LoTISInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 81.9 | 79.4 | |
| LoTISInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 69.6 | 67.6 | |
| LoTISInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 69.6 | 65.6 | |
| LoTISInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 69.6 | 67.6 | |
| LoTISInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 69.6 | 65.6 | |
| LoTISInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 65.2 | 61.6 | |
| LoTISInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 65.2 | 61.6 | |
| FAINTInitialization=On-Trajectory, Camera Setup=Cross2026.02 | 11.3 | 10.3 | |
| FAINTInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 11.3 | 10.3 | |
| FAINTInitialization=Off-Trajectory, Camera Setup=Matched2026.02 | 10.8 | 9.6 | |
| FAINTInitialization=Off-Trajectory, Camera Setup=Cross2026.02 | 10.8 | 9.3 | |
| FAINTInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 10.8 | 9.6 | |
| FAINTInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 10.8 | 9.3 | |
| NoMaDInitialization=Off-Trajectory, Camera Setup=Matched2026.02 | 10.3 | 8.9 | |
| NoMaDInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 10.3 | 8.9 | |
| NoMaDInitialization=Off-Trajectory, Camera Setup=Cross2026.02 | 8.3 | 7.1 | |
| NoMaDInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 8.3 | 7.1 | |
| FAINTInitialization=On-Trajectory, Camera Setup=Matched2026.02 | 7.8 | 7.1 | |
| FAINTInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 7.8 | 7.1 | |
| ViNTInitialization=Off-Trajectory, Camera Setup=Cross2026.02 | 5.4 | 5 | |
| ViNTInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 5.4 | 5 | |
| PlaceNavInitialization=Off-Trajectory, Camera Setup=Matched2026.02 | 4.9 | 3.4 | |
| PlaceNavInitialization=Off-Trajectory, Camera Setup=Cross2026.02 | 4.9 | 4 | |
| PlaceNavInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 4.9 | 3.4 | |
| PlaceNavInitialization=Off-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 4.9 | 4 | |
| ViNTInitialization=Off-Trajectory, Camera Setup=Matched2026.02 | 4.4 | 3.7 | |
| NoMaDInitialization=On-Trajectory, Camera Setup=Matched2026.02 | 4.4 | 4 | |
| NoMaDInitialization=On-Trajectory, Camera Setup=Cross2026.02 | 4.4 | 3.9 | |
| ViNTInitialization=Off-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 4.4 | 3.7 | |
| NoMaDInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 4.4 | 4 | |
| NoMaDInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 4.4 | 3.9 | |
| ViNTInitialization=On-Trajectory, Camera Setup=Matched2026.02 | 3.4 | 3.1 | |
| PlaceNavInitialization=On-Trajectory, Camera Setup=Matched2026.02 | 3.4 | 3.2 | |
| ViNTInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 3.4 | 3.1 | |
| PlaceNavInitialization=On-Trajectory, Camera Setup=Matched, Obstacle Avoidance=false2026.02 | 3.4 | 3.2 | |
| ViNTInitialization=On-Trajectory, Camera Setup=Cross2026.02 | 2.5 | 2.3 | |
| PlaceNavInitialization=On-Trajectory, Camera Setup=Cross2026.02 | 2.5 | 2.1 | |
| ViNTInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 2.5 | 2.3 | |
| PlaceNavInitialization=On-Trajectory, Camera Setup=Cross, Obstacle Avoidance=false2026.02 | 2.5 | 2.1 |