Navigation on CityNav (test unseen)
9.8Navigation Error (NE)Human
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| HumanRGB=true, Instruction=true, Geo=true2025.04 | 9.8 | 87.9 | 95.3 | 57 | |
| GeoNavRGB=true, Instruction=true, Geo=true2025.04 | 73.5 | 25.9 | 41.6 | 16 | |
| TopV-Nav w/ MNSRGB=true, Instruction=true, Geo=true, Zero-shot=true, MNS module=true2025.04 | 79.5 | 5.8 | 35.9 | 3.3 | |
| STMR w/ MNSRGB=true, Instruction=true, Geo=true, Zero-shot=true, MNS module=true2025.04 | 84.3 | 7.5 | 42.5 | 3.6 | |
| MGP w/ HDRGB=true, Instruction=true, Geo=true, Training Trajectory=HD2025.04 | 94.4 | 5.6 | 25.8 | 5.3 | |
| GreedyRGB=true, Instruction=false, Geo=true2025.04 | 105.6 | 1.6 | 3.2 | 1 | |
| MGP w/ SPRGB=true, Instruction=true, Geo=true, Training Trajectory=SP2025.04 | 110 | 4.5 | 17 | 4.3 | |
| Seq2Seq w/ SPRGB=true, Instruction=true, Geo=false, Training Trajectory=SP2025.04 | 174.5 | 1.7 | 8.6 | 1.7 | |
| CMA w/ SPRGB=true, Instruction=true, Geo=false, Training Trajectory=SP2025.04 | 179.1 | 1.6 | 10.1 | 1.6 | |
| RSRGB=false, Instruction=false, Geo=false2025.04 | 208.8 | 0 | 1.4 | 0 | |
| Seq2Seq w/ HDRGB=true, Instruction=true, Geo=false, Training Trajectory=HD2025.04 | 245.3 | 1.5 | 8.3 | 1.3 | |
| CMA w/ HDRGB=true, Instruction=true, Geo=false, Training Trajectory=HD2025.04 | 252.6 | 0.8 | 9.7 | 0.8 | |
| NavGPTRGB=true, Instruction=true, Geo=false, Zero-shot=true2025.04 | 342.9 | 0 | 2.4 | 0 | |
| QwenVL-MaxRGB=true, Instruction=true, Geo=false, Zero-shot=true2025.04 | 455.4 | 0 | 1.2 | 0 |