ResearchBenchmarksLong-Horizon Audio-Visual-Language Navigation on LH-AVLN UnorderedFollow3.1SR (Success Rate)PAG-Nav-0.1240.7131.552.387Jul 4, 2026Evaluation ResultsMethodMethodLinksSR (Success Rate)ISR (Initial Success Rate)OSR (Overall Success Rate)SPL (Success weighted by Path Length)SoftSPLPAG-NavType=Training-free, Au...Type=Training-free, Audio=True2026.073.131.555.61.814.8MTU3DType=Training-free, Au...Type=Training-free, Audio=False2026.072.117.341.31.19.8SAVIType=Pretrain, Audio=TrueType=Pretrain, Audio=True2026.0700.735.100.5