ResearchBenchmarksNavigation on FourRooms 100 episodes (test)Navigation on FourRooms 100 episodes (test)Follow0.64RewardASK+0.28640.37820.470.5618Jul 2, 2026Evaluation resultsMethodMethodLinksRewardSuccess RateIR ScoreOR ScoreASK+Model=2BModel=2B2026.070.6470202ASK+Model=4BModel=4B2026.070.6269252SLMModel=4BModel=4B2026.070.5769100—ASKModel=4BModel=4B2026.070.5255320ASKModel=2BModel=2B2026.070.5154320PPOModel=—Model=—2026.070.5530—SLMModel=2BModel=2B2026.070.334100—