ResearchBenchmarksImageNav on FloVerse-1.6K (test)Follow28.9Success Rate (SR)ThreeDiff14.8618.50522.1525.795Jun 12, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)SPLThreeDiff2026.0628.922.4NoMadstatus=finetunestatus=finetune2026.0622.817NoMadstatus=pretrainstatus=pretrain2026.0615.410.9