ResearchBenchmarksNL-to-STL translation on Ambiguous Navigation Instructions S8-S12NL-to-STL translation on Ambiguous Navigation Instructions S8-S12Follow2#Out CountChatGPT1.524.76811.24Mar 30, 2026Evaluation resultsMethodMethodLinks#Out CountRecovered CountCorrect CountError Type 1 Count (E1)Error Type 2 Count (E2)ChatGPTID=S8ID=S82026.0322200ChatGPTID=S9ID=S92026.0322200ChatGPTID=S10ID=S102026.0320011ChatGPTID=S11ID=S112026.0333300ChatGPTID=S12ID=S122026.0354410ChatGPTID=TotalID=Total2026.0314111121