Embodied Navigation on R2R-CE
4.73Navigation Error (NE)D3D-VLP
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| D3D-VLPSystem Type=E2E w/ CoT, Zero-shot=false2025.12 | 4.73 | 67.2 | 61.3 | 56.1 | |
| InternVLA-N1System Type=Modular, Zero-shot=false2025.12 | 4.83 | 63.3 | 58.2 | 54 | |
| MapNavSystem Type=Modular w/ CoT, Zero-shot=false2025.12 | 4.93 | 53 | 39.7 | 37.2 | |
| StreamVLNSystem Type=E2E, Zero-shot=false2025.12 | 4.98 | 64.2 | 56.9 | 51.9 | |
| NavFoM (S.RGB)System Type=E2E, Zero-shot=false2025.12 | 5.01 | 64.9 | 56.2 | 51.2 | |
| NaVILASystem Type=E2E, Zero-shot=false2025.12 | 5.22 | 62.5 | 54 | 49 | |
| Dynam3DSystem Type=E2E, Zero-shot=false2025.12 | 5.34 | 62.1 | 52.9 | 45.7 | |
| MonoDreamSystem Type=E2E, Zero-shot=false2025.12 | 5.45 | 61.5 | 55.8 | 49.1 | |
| NaVidSystem Type=E2E, Zero-shot=false2025.12 | 5.47 | 49.1 | 37.4 | 35.9 | |
| Uni-NaVidSystem Type=E2E, Zero-shot=false2025.12 | 5.58 | 53.3 | 47 | 42.7 | |
| g3D-LFSystem Type=E2E, Zero-shot=false2025.12 | 5.7 | 59.5 | 47.2 | 34.6 | |
| Aux-ThinkSystem Type=E2E, Zero-shot=false2025.12 | 5.88 | 54.9 | 49.7 | 41.7 | |
| VLN-3DFFSystem Type=E2E, Zero-shot=false2025.12 | 5.95 | 55.8 | 44.9 | 30.4 | |
| WS-MGMapSystem Type=E2E, Zero-shot=false2025.12 | 6.28 | 47.6 | 38.9 | 34.3 | |
| InstructNavSystem Type=Modular w/ CoT, Zero-shot=true2025.12 | 6.89 | — | 31 | 24 | |
| AO-PlannerSystem Type=Modular w/ CoT, Zero-shot=true2025.12 | 6.95 | 38.3 | 25.5 | 16.6 | |
| CM2System Type=E2E, Zero-shot=false2025.12 | 7.02 | 41.5 | 34.3 | 27.6 | |
| DreamNavSystem Type=Modular w/ CoT, Zero-shot=true2025.12 | 7.06 | 41 | 32.8 | 29 | |
| CA-NavSystem Type=Modular, Zero-shot=true2025.12 | 7.58 | 48 | 25.3 | 10.8 |