Navigation on CityNav unseen (val)
9.4Navigation Error (NE)Human
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| HumanRGB=true, Instruction=true, Geo=true2025.04 | 9.4 | 88.4 | 95.5 | 62.7 | |
| GeoNavRGB=true, Instruction=true, Geo=true2025.04 | 64.1 | 16.9 | 35.5 | 9.9 | |
| STMR w/ MNSRGB=true, Instruction=true, Geo=true, Zero-shot=true, MNS module=true2025.04 | 73 | 8.2 | 25.1 | 5.9 | |
| MGP w/ HDRGB=true, Instruction=true, Geo=true, Training Trajectory=HD2025.04 | 75.3 | 5 | 21.9 | 4.7 | |
| TopV-Nav w/ MNSRGB=true, Instruction=true, Geo=true, Zero-shot=true, MNS module=true2025.04 | 77.4 | 7.7 | 24.5 | 4.1 | |
| MGP w/ SPRGB=true, Instruction=true, Geo=true, Training Trajectory=SP2025.04 | 95.6 | 3.6 | 14.5 | 3.5 | |
| GreedyRGB=true, Instruction=false, Geo=true2025.04 | 103 | 0 | 4.9 | 0 | |
| Seq2Seq w/ SPRGB=true, Instruction=true, Geo=false, Training Trajectory=SP2025.04 | 201.4 | 1.1 | 8 | 1 | |
| CMA w/ SPRGB=true, Instruction=true, Geo=false, Training Trajectory=SP2025.04 | 205.2 | 1.1 | 7.9 | 1.1 | |
| RSRGB=false, Instruction=false, Geo=false2025.04 | 223 | 0 | 1.4 | 0 | |
| CMA w/ HDRGB=true, Instruction=true, Geo=false, Training Trajectory=HD2025.04 | 268.8 | 0.7 | 7.9 | 0.6 | |
| Seq2Seq w/ HDRGB=true, Instruction=true, Geo=false, Training Trajectory=HD2025.04 | 317.4 | 0.8 | 8.8 | 0.6 | |
| QwenVL-MaxRGB=true, Instruction=true, Geo=false, Zero-shot=true2025.04 | 324.2 | 0 | 2.8 | 0 | |
| NavGPTRGB=true, Instruction=true, Geo=false, Zero-shot=true2025.04 | 345.5 | 0 | 4.5 | 0 |