Navigation on CityNav seen (val)
9.1Navigation Error (NE)Human
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| HumanRGB=true, Instruction=true, Geo=true2025.04 | 9.1 | 89.3 | 96.4 | 60.2 | |
| GeoNavRGB=true, Instruction=true, Geo=true2025.04 | 58.6 | 21.8 | 39.9 | 12.3 | |
| MGP w/ HDRGB=true, Instruction=true, Geo=true, Training Trajectory=HD2025.04 | 60.9 | 7.2 | 34.8 | 6.6 | |
| MGP w/ SPRGB=true, Instruction=true, Geo=true, Training Trajectory=SP2025.04 | 76 | 5.6 | 22.2 | 5.4 | |
| GreedyRGB=true, Instruction=false, Geo=true2025.04 | 78.8 | 0 | 2.7 | 0 | |
| TopV-Nav w/ MNSRGB=true, Instruction=true, Geo=true, Zero-shot=true, MNS module=true2025.04 | 102.7 | 5 | 34.2 | 3.2 | |
| STMR w/ MNSRGB=true, Instruction=true, Geo=true, Zero-shot=true, MNS module=true2025.04 | 103.8 | 5.8 | 29.1 | 4 | |
| Seq2Seq w/ SPRGB=true, Instruction=true, Geo=false, Training Trajectory=SP2025.04 | 148.4 | 4.5 | 10.6 | 4.5 | |
| CMA w/ SPRGB=true, Instruction=true, Geo=false, Training Trajectory=SP2025.04 | 151.7 | 3.7 | 10.8 | 3.7 | |
| RSRGB=false, Instruction=false, Geo=false2025.04 | 222.3 | 0 | 0.9 | 0 | |
| NavGPTRGB=true, Instruction=true, Geo=false, Zero-shot=true2025.04 | 234.5 | 0 | 4.3 | 0 | |
| CMA w/ HDRGB=true, Instruction=true, Geo=false, Training Trajectory=HD2025.04 | 240.8 | 1 | 9.4 | 0.9 | |
| Seq2Seq w/ HDRGB=true, Instruction=true, Geo=false, Training Trajectory=HD2025.04 | 257.1 | 1.8 | 7.9 | 1.6 | |
| QwenVL-MaxRGB=true, Instruction=true, Geo=false, Zero-shot=true2025.04 | 573 | 0 | 0.9 | 0 |