Embodied Navigation on HSSD
69.9Success RateHierarchical 3D Scene Graph (Ours)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Hierarchical 3D Scene Graph (Ours)Training-Free=true2026.06 | 69.9 | 36.4 | |
| ImagineNav++(Oracle)Open-Vocabulary=true, Mapless=true2025.12 | 67.5 | 30.3 | |
| BeliefMapNavTraining-Free=true2026.06 | 65.2 | 32.1 | |
| ImagineNav++Open-Vocabulary=true, Mapless=true2025.12 | 64.5 | 27.9 | |
| ImagineNav++Training-Free=true2026.06 | 64.5 | 27.9 | |
| ApexNavTraining-Free=true2026.06 | 61.1 | 31.5 | |
| ImagineNavOpen-Vocabulary=true, Mapless=true2025.12 | 51 | 24.9 | |
| ImagineNavTraining-Free=true2026.06 | 51 | 24.9 | |
| L3MVNTraining-Free=true2026.06 | 41.2 | 22.5 | |
| VoroNavOpen-Vocabulary=true, Mapless=false2025.12 | 41 | 23.2 | |
| VoroNavTraining-Free=true2026.06 | 41 | 23.2 | |
| RoboCodeX2024.02 | 40.3 | 22 | |
| L3MVNBackbone LLM=GPT22024.02 | 38.4 | 19.4 | |
| ESCTraining-Free=true2026.06 | 38.1 | 22.2 | |
| FBEOpen-Vocabulary=false, Mapless=false2025.12 | 36 | 17.7 |