ResearchBenchmarksNavigation on DoorKey 8x8 100 episodes (test)Navigation on DoorKey 8x8 100 episodes (test)Follow91RewardASK+-3.6420.9345.570.07Jul 2, 2026Evaluation resultsMethodMethodLinksRewardSuccess RateInteraction Rate (IR)Other Rate (OR)ASK+Model=2BModel=2B2026.07919332ASK+Model=4BModel=4B2026.07909332ASKModel=4BModel=4B2026.07899250PPOModel=—Model=—2026.0787890—ASKModel=2BModel=2B2026.07878961SLMModel=4BModel=4B2026.075862100—SLMModel=2BModel=2B2026.0700100—