ResearchBenchmarksGlobal localization on Retail Env. Subst. Appear.Global localization on Retail Env. Subst. Appear.Follow0.18Translation ErrorVLG-Loc0.10840.59171.0751.5583Dec 14, 2025Evaluation resultsMethodMethodLinksTranslation ErrorRotation ErrorVLG-LocModality=Vision and Sc...Modality=Vision and Scan (VS)2025.120.180.09VLG-LocModality=Vision Only (VO)Modality=Vision Only (VO)2025.120.430.17MCLType=Scan-Based LocalizerType=Scan-Based Localizer2025.120.690.42CBGLType=Scan-Based LocalizerType=Scan-Based Localizer2025.121.971.02