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ResearchFormerly WizWand

Embodied Navigation on LENL 1.0 (test)

67Success Rate (S1)Uni-Walker

Evaluation results

Method	Links
Uni-Walker2026.03		67	67	75	67	57	50	67	83	50	73	62	53	88	65	86	74	61	51	66
SD-LoRA2026.03		58	57	54	46	49	42	57	76	51	59	57	54	81	62	87	68	55	48	59
O-LoRA2026.03		55	61	50	54	42	42	54	79	48	66	56	54	88	63	86	65	53	36	58
SEMA2026.03		38	34	32	34	19	32	33	38	42	30	33	51	84	61	86	39	42	36	43
NBAgent2026.03		29	26	23	26	10	23	23	28	24	22	26	42	81	57	86	31	24	17	33
BranchLoRA2026.03		26	20	20	25	8	21	20	26	20	18	22	39	78	54	86	28	20	15	30
HydraLoRA2026.03		16	14	15	19	6	15	16	24	17	17	21	41	68	57	86	18	14	16	27
Sparse MoLE2026.03		15	12	0	17	6	6	16	18	18	24	15	32	58	53	84	16	12	10	23
MoLA2026.03		15	12	0	12	6	10	20	18	13	26	19	34	61	59	86	20	12	11	24
Dense MoLE2026.03		10	10	4	10	8	3	10	18	16	19	17	30	56	51	85	12	10	8	21
Seq-FT2026.03		0	0	0	5	4	0	5	18	8	9	8	21	20	25	86	0	0	0	12
LwF-LoRA2026.03		0	5	0	5	6	0	5	22	8	12	10	30	45	36	85	5	0	0	15
EWC-LoRA2026.03		0	5	0	10	4	0	5	20	8	9	8	31	49	40	86	5	5	0	16