ResearchBenchmarksClosed-loop long-horizon navigation on simulation benchmarkClosed-loop long-horizon navigation on simulation benchmarkFollow21.2NIRViNT2.6887.49412.317.106Jun 10, 2026Evaluation resultsMethodMethodLinksNIRNCRNOBRViNT2026.0621.24.316.9NoMaD2026.0614.2410.1MBRA2026.0610.34.45.9MIMIC2026.066.130.9CityWalker2026.065.53.51.9S2E2026.065.42.13.3FlowPilot2026.063.42.31.1