ResearchBenchmarksLong-Horizon Audio-Visual-Language Navigation on LH-AVLN OrderedFollow2.3Success Rate (SR)PAG-Nav-0.0920.5291.151.771Jul 4, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Intermediate Success Rate (ISR)Out-of-Sequence Rate (OSR)SPLSoftSPLPAG-NavType=Training-free, Au...Type=Training-free, Audio=True2026.072.317.566.51.812.9MTU3DType=Training-free, Au...Type=Training-free, Audio=False2026.071.715.547.61.58.83D-MemType=Training-free, Au...Type=Training-free, Audio=False2026.07011.623.708.6SAVIType=Pretrain, Audio=TrueType=Pretrain, Audio=True2026.0700.134.400.1