Goal-conditioned navigation on GOAT-Bench
73.7SRSCOPE
Evaluation results
| Method | Links | ||
|---|---|---|---|
| SCOPEFR=true, FI=true2025.11 | 73.7 | 53.5 | |
| ObsGraph2026.06 | 72.7 | 51.5 | |
| 3D-MemFR=true, FI=false2025.11 | 69.1 | 48.9 | |
| 3D-Mem2026.06 | 69.1 | 48.9 | |
| CG + FrontierFR=true, FI=false2025.11 | 61.5 | 41.3 | |
| Explore-EQAFR=true, FI=false2025.11 | 55 | 37.9 | |
| Explore-EQA2026.06 | 55 | 37.9 | |
| MTU3D2026.06 | 47.7 | 27.7 | |
| MTU3DFR=true, FI=false2025.11 | 47.2 | 27.7 | |
| TANGOFR=false, FI=false2025.11 | 32.1 | 16.5 | |
| TANGO2026.06 | 32.1 | 16.5 | |
| SenseAct-NN Skill ChainFR=false, FI=false2025.11 | 29.5 | 11.3 | |
| SenseAct-NN Skill Chain2026.06 | 29.5 | 11.3 | |
| DyNaVLMFR=false, FI=false2025.11 | 25.5 | 10.2 | |
| Modular GOATFR=false, FI=false2025.11 | 24.9 | 17.2 | |
| Modular GOAT2026.06 | 24.9 | 17.2 | |
| VLMnavFR=false, FI=false2025.11 | 16.3 | 6.6 | |
| CoWFR=false, FI=false2025.11 | 16.1 | 10.4 | |
| Modular CoW2026.06 | 16.1 | 10.4 | |
| SenseAct-NN MonolithicFR=false, FI=false2025.11 | 12.3 | 6.8 | |
| SenseAct-NN Monolithic2026.06 | 12.3 | 6.8 |