# Goal Conditioned Visual Navigation on SCAND

Source: [Goal Conditioned Visual Navigation on SCAND](<https://www.sota2.com/research/sota/goal-conditioned-visual-navigation-on-scand>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-10T11:08:26.491Z

Evaluation of Goal Conditioned Visual Navigation performance on the SCAND dataset, reporting metrics such as ATE and RTE.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Goal Conditioned Visual Navigation |
| Dataset (including any stated split) | SCAND |
| Metric | ATE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 18 of 18 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [ATE](<https://www.sota2.com/research/sota/goal-conditioned-visual-navigation-on-scand.md?metric=ATE>): Lower is better; unit: SCALAR.

- [RTE](<https://www.sota2.com/research/sota/goal-conditioned-visual-navigation-on-scand.md?metric=RTE>): Lower is better; unit: SCALAR.

- [RPE](<https://www.sota2.com/research/sota/goal-conditioned-visual-navigation-on-scand.md?metric=RPE>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ATE | Result date | Report paper |
| --- | --- | --- | --- |
| SD-VAE | 1.065 | Not recorded | 69aa5f9a2d603e6de3e41a59 |
| MWM | 1.14 | Not recorded | 69afa58f2d603e6de3e43b34 |
| NWM | 1.28 | Not recorded | 68fa77ea1e209131cea75f91 |
| NWM | 1.28 | Not recorded | 69afa58f2d603e6de3e43b34 |
| CompACT | 1.358 | Not recorded | 69aa5f9a2d603e6de3e41a59 |
| CompACT | 1.391 | Not recorded | 69aa5f9a2d603e6de3e41a59 |
| FlexTok | 1.503 | Not recorded | 69aa5f9a2d603e6de3e41a59 |
| FlexTok | 1.578 | Not recorded | 69aa5f9a2d603e6de3e41a59 |
| GNM | 2.12 | Not recorded | 68fa77ea1e209131cea75f91 |
| GNM | 2.12 | Not recorded | 69afa58f2d603e6de3e43b34 |
| NWM + NoMaD | 2.18 | Not recorded | 68fa77ea1e209131cea75f91 |
| NWM + NoMaD (x16) | 2.18 | Not recorded | 69afa58f2d603e6de3e43b34 |
| NWM + NoMaD | 2.19 | Not recorded | 68fa77ea1e209131cea75f91 |
| NWM + NoMaD (x32) | 2.19 | Not recorded | 69afa58f2d603e6de3e43b34 |
| NoMaD | 2.24 | Not recorded | 68fa77ea1e209131cea75f91 |
| NoMaD | 2.24 | Not recorded | 69afa58f2d603e6de3e43b34 |
| Forward | 2.97 | Not recorded | 68fa77ea1e209131cea75f91 |
| Forward | 2.97 | Not recorded | 69afa58f2d603e6de3e43b34 |

### SD-VAE

ATE: 1.065. Result ID: 69aaa9156dbb7075b954ed4c.

[Reporting paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c391e209131cea32e4a.md>)

[Implementation](<https://github.com/CompVis/latent-diffusion>)

Recorded evaluation configuration: {"#tok":"784","Latency":"178.78"}. This record does not assert independent reproduction.

### MWM

ATE: 1.14. Result ID: 69affb9a6dbb7075b9594a38.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Implementation](<https://github.com/AIGeeksGroup/MWM>)

Recorded evaluation configuration: {"Planning":"CEM"}. This record does not assert independent reproduction.

### NWM

ATE: 1.28. Result ID: 699574073badfaffe669e754.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### NWM

ATE: 1.28. Result ID: 69affb9a6dbb7075b9594a37.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: {"Planning":"CEM"}. This record does not assert independent reproduction.

### CompACT

ATE: 1.358. Result ID: 69aaa9156dbb7075b954ed4f.

[Reporting paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Implementation](<https://github.com/kdwonn/CompACT>)

Recorded evaluation configuration: {"#tok":"16","Latency":"5.78"}. This record does not assert independent reproduction.

### CompACT

ATE: 1.391. Result ID: 69aaa9156dbb7075b954ed50.

[Reporting paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Implementation](<https://github.com/kdwonn/CompACT>)

Recorded evaluation configuration: {"#tok":"8","Latency":"4.83"}. This record does not assert independent reproduction.

### FlexTok

ATE: 1.503. Result ID: 69aaa9156dbb7075b954ed4e.

[Reporting paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa790f1e209131cea7be66.md>)

Recorded evaluation configuration: {"#tok":"16","Latency":"14.48"}. This record does not assert independent reproduction.

### FlexTok

ATE: 1.578. Result ID: 69aaa9156dbb7075b954ed4d.

[Reporting paper](<https://www.sota2.com/research/paper/69aa5f9a2d603e6de3e41a59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa790f1e209131cea7be66.md>)

Recorded evaluation configuration: {"#tok":"64","Latency":"16.68"}. This record does not assert independent reproduction.

### GNM

ATE: 2.12. Result ID: 699574073badfaffe669e750.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f721e209131cea45a33.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GNM

ATE: 2.12. Result ID: 69affb9a6dbb7075b9594a33.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f721e209131cea45a33.md>)

Recorded evaluation configuration: {"Planning":"CEM"}. This record does not assert independent reproduction.

### NWM + NoMaD

ATE: 2.18. Result ID: 699574073badfaffe669e752.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: {"sampling":"x16"}. This record does not assert independent reproduction.

### NWM + NoMaD (x16)

ATE: 2.18. Result ID: 69affb9a6dbb7075b9594a35.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: {"Planning":"CEM","Multiplier":"x16"}. This record does not assert independent reproduction.

### NWM + NoMaD

ATE: 2.19. Result ID: 699574073badfaffe669e753.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: {"sampling":"x32"}. This record does not assert independent reproduction.

### NWM + NoMaD (x32)

ATE: 2.19. Result ID: 69affb9a6dbb7075b9594a36.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: {"Planning":"CEM","Multiplier":"x32"}. This record does not assert independent reproduction.

### NoMaD

ATE: 2.24. Result ID: 699574073badfaffe669e751.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70da1e209131cea4db31.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### NoMaD

ATE: 2.24. Result ID: 69affb9a6dbb7075b9594a34.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70da1e209131cea4db31.md>)

Recorded evaluation configuration: {"Planning":"CEM"}. This record does not assert independent reproduction.

### Forward

ATE: 2.97. Result ID: 699574073badfaffe669e74f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Forward

ATE: 2.97. Result ID: 69affb9a6dbb7075b9594a32.

[Reporting paper](<https://www.sota2.com/research/paper/69afa58f2d603e6de3e43b34.md>)

Recorded evaluation configuration: {"Planning":"CEM"}. This record does not assert independent reproduction.

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