Image-goal navigation on Gibson Straight trajectories (unseen)
85.3Success Rate (Easy)NRNS + SLING
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| NRNS + SLING2026.01 | 85.3 | 74.4 | 66.8 | 49.3 | 41.1 | 28.8 | 64.4 | 50.8 | |
| FeudalNav2026.01 | 82.6 | 75 | 71 | 57.4 | 49 | 34.2 | 67.5 | 55.5 | |
| OVRL + SLINGSimulator-based training=true2026.01 | 71.2 | 54.1 | 60.3 | 44.4 | 43 | 29.1 | 58.2 | 42.5 | |
| NRNSNoise Condition=without noise2026.01 | 68 | 61.6 | 49.1 | 44.6 | 23.8 | 18.3 | 47 | 41.5 | |
| NRNSNoise Condition=with noise2026.01 | 64.1 | 55.4 | 47.9 | 39.5 | 25.2 | 18.1 | 45.7 | 37.7 | |
| DDPPOTraining Steps=100M, Extra Data=true, Simulator-based training=true2026.01 | 43.2 | 38.5 | 36.4 | 35 | 7.4 | 7.2 | 29 | 26.9 | |
| DDPPOTraining Steps=50M, Extra Data=true, Simulator-based training=true2026.01 | 36.3 | 34.9 | 35.7 | 34 | 6 | 6.3 | 26 | 25.1 | |
| BCBackbone=ResNet, Mapping Module=GRU2026.01 | 34.9 | 33.4 | 17.6 | 17.1 | 6.1 | 5.9 | 19.5 | 18.8 | |
| BCBackbone=ResNet, Mapping Module=Metric Map2026.01 | 24.8 | 24 | 11.5 | 11.3 | 1.4 | 1.3 | 12.6 | 12.2 | |
| DDPPOTraining Steps=10M, Simulator-based training=true2026.01 | 10.5 | 6.7 | 18.1 | 16.2 | 11.8 | 10.9 | 13.5 | 11.2 |