Instance-Image-Goal Navigation on HM3D
72.6SRFSUNav_Cerebrum
Evaluation results
| Method | Links | ||
|---|---|---|---|
| FSUNav_CerebrumTraining-Free=Yes, Universal=Yes2026.04 | 72.6 | 34.88 | |
| IEVETraining-Free=No, Universal=No2026.04 | 70.2 | 25.2 | |
| IEVEZero-shot=false, Universal=false2026.05 | 70.2 | 25.2 | |
| MCNavZero-shot=true, Universal=true2026.05 | 61.4 | 23.9 | |
| UniGoalOpen-Vocabulary=true, Mapless=false, Universal=true2025.12 | 60.2 | 23.7 | |
| UniGoalTraining-Free=Yes, Universal=Yes2026.04 | 60.2 | 23.7 | |
| UniGoalZero-shot=true, Universal=true2026.05 | 60.2 | 23.7 | |
| UniGoalQwen2.5Zero-shot=true, Universal=true2026.05 | 58.5 | 21.9 | |
| Mod-IINOpen-Vocabulary=true, Mapless=true, Universal=false2025.12 | 56.1 | 23.3 | |
| Mod-IINZero-shot=true, Universal=false2026.05 | 56.1 | 23.3 | |
| ImagineNav++(Oracle)Open-Vocabulary=true, Mapless=true, Universal=true, Mode=Oracle2025.12 | 55.6 | 37.1 | |
| ImagineNav++Open-Vocabulary=true, Mapless=true, Universal=true, T=11, Backbone=ResNet-18, VLM=GPT-4O-MINI2025.12 | 52.4 | 32.8 | |
| GoatOpen-Vocabulary=true, Mapless=false, Universal=true2025.12 | 50.6 | 24.1 | |
| GOATTraining-Free=No, Universal=Yes2026.04 | 37.4 | 16.1 | |
| GOATZero-shot=false, Universal=true2026.05 | 37.4 | 16.1 | |
| OVRL-v2-IINOpen-Vocabulary=false, Mapless=true, Universal=false2025.12 | 24.8 | 11.8 | |
| OVRL-v2-IINZero-shot=false, Universal=false2026.05 | 24.8 | 11.8 | |
| PSLOpen-Vocabulary=true, Mapless=true, Universal=true2025.12 | 23 | 11.4 | |
| PSLTraining-Free=No, Universal=Yes2026.04 | 23 | 11.4 | |
| PSLZero-shot=false, Universal=true2026.05 | 23 | 11.4 | |
| Krantz et al.Open-Vocabulary=true, Mapless=false, Universal=false2025.12 | 8.3 | 3.5 | |
| Krantz et al.Zero-shot=false, Universal=false2026.05 | 8.3 | 3.5 |