Object Goal Navigation on HM3D v1 (val)
76Success Rate (SR)LongNav-R1
Evaluation results
| Method | Links | ||
|---|---|---|---|
| LongNav-R1Observations (Odom.)=false, Observations (Depth)=false, Observations (RGB)=true2026.02 | 76 | 44.3 | |
| UniNavidObservations (Odom.)=false, Observations (Depth)=false, Observations (RGB)=true2026.02 | 73.7 | 37.1 | |
| XGXMemory=Implicit2025.11 | 72.9 | 35.7 | |
| PIRLNavMemory=Implicit2025.11 | 70.4 | 34.1 | |
| PIRLNav-RLObservations (Odom.)=true, Observations (Depth)=false, Observations (RGB)=true2026.02 | 70.4 | 34.1 | |
| PSG-NavUnsupervised=true, Zero-shot=false2026.05 | 66.1 | 32.1 | |
| SGImagineNavObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 65.4 | 30 | |
| ASCENTUnsupervised=true, Zero-shot=true2026.05 | 65.4 | 33.5 | |
| OVRL-v2Memory=Implicit2025.11 | 64.7 | 28.1 | |
| OVRL-v2Observations (Odom.)=true, Observations (Depth)=false, Observations (RGB)=true2026.02 | 64.7 | 28.1 | |
| PIRLNav-ILObservations (Odom.)=true, Observations (Depth)=false, Observations (RGB)=true2026.02 | 64.1 | 27.1 | |
| PSG-Nav (w/o EEC)Unsupervised=true, Zero-shot=true2026.05 | 63.5 | 31.2 | |
| OVRLObservations (Odom.)=true, Observations (Depth)=false, Observations (RGB)=true2026.02 | 62 | 26.8 | |
| BeliefMapNavObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 61.4 | 30.6 | |
| BeliefMapNavUnsupervised=true, Zero-shot=true2026.05 | 61.4 | 30.6 | |
| SGMMemory=Explicit2025.11 | 60.2 | 30.8 | |
| SGMUnsupervised=false, Zero-shot=false2026.05 | 60.2 | 30.8 | |
| ApexNAVSetting=Zero-shot2026.03 | 59.6 | 33 | |
| ApexNavUnsupervised=true, Zero-shot=true2026.05 | 59.6 | 33 | |
| InstructNavObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 58 | 20.9 | |
| InstructNavUnsupervised=true, Zero-shot=true2026.05 | 58 | 20.9 | |
| RIMMemory=Implicit2025.11 | 57.8 | 27.2 | |
| Habitat-WebMemory=Implicit2025.11 | 57.6 | 23.8 | |
| FOM-NavMemory=Explicit2025.11 | 57.3 | 40.8 | |
| RESTSetting=Zero-shot2026.03 | 57.3 | 33.4 | |
| TriHelperSetting=Zero-shot2026.03 | 56.5 | 25.3 | |
| UniGoalObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 54.5 | 25.1 | |
| UniGoalSetting=Zero-shot2026.03 | 54.5 | 25.1 | |
| UnigoalUnsupervised=true, Zero-shot=true2026.05 | 54.5 | 25.1 | |
| ProcTHORObservations (Odom.)=true, Observations (Depth)=false, Observations (RGB)=true2026.02 | 54.4 | 31.8 | |
| ProcTHORUnsupervised=false, Zero-shot=false2026.05 | 54.4 | 31.8 | |
| SG-NavObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 54 | 24.9 | |
| SG-NavSetting=Zero-shot2026.03 | 54 | 24.9 | |
| SG-NavUnsupervised=true, Zero-shot=true2026.05 | 54 | 24.9 | |
| VLFM†Memory=Explicit, Segmentation=Proposed model from this paper2025.11 | 53.5 | 32 | |
| GAMapObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 53.1 | 26 | |
| GAMapSetting=Zero-shot2026.03 | 53.1 | 26 | |
| GAMapUnsupervised=true, Zero-shot=true2026.05 | 53.1 | 26 | |
| ImagineNavObservations (Odom.)=true, Observations (Depth)=false, Observations (RGB)=true2026.02 | 53 | 23.8 | |
| ImagineNavSetting=Zero-shot2026.03 | 53 | 23.8 | |
| ImagineNavUnsupervised=false, Zero-shot=true2026.05 | 53 | 23.8 | |
| VLFMMemory=Explicit2025.11 | 52.5 | 30.4 | |
| OpenFMNavObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 52.5 | 24.1 | |
| VLFMObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 52.5 | 30.4 | |
| VLFMSetting=Zero-shot2026.03 | 52.5 | 30.4 | |
| VLFMUnsupervised=true, Zero-shot=true2026.05 | 52.5 | 30.4 | |
| OpenFMNavUnsupervised=true, Zero-shot=true2026.05 | 52.5 | 24.1 | |
| VLFM*Memory=Explicit, Implementation=Reproduced2025.11 | 52 | 30.2 | |
| L3MVNObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 50.4 | 23.1 | |
| L3MVNUnsupervised=true, Zero-shot=true2026.05 | 50.4 | 23.1 | |
| PanoNavSetting=Zero-shot2026.03 | 43.5 | 23.7 | |
| PSLObservations (Odom.)=false, Observations (Depth)=false, Observations (RGB)=true2026.02 | 42.4 | 19.2 | |
| PSLUnsupervised=false, Zero-shot=true2026.05 | 42.4 | 19.2 | |
| VoroNavObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 42 | 26 | |
| VoroNavSetting=Zero-shot2026.03 | 42 | 26 | |
| VoroNavUnsupervised=true, Zero-shot=true2026.05 | 42 | 26 | |
| Habitat-WebObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 41.5 | 16 | |
| Habitat-WebUnsupervised=false, Zero-shot=false2026.05 | 41.5 | 16 | |
| ESCObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 39.2 | 22.3 | |
| ESCUnsupervised=true, Zero-shot=true2026.05 | 39.2 | 22.3 | |
| PixNavObservations (Odom.)=false, Observations (Depth)=false, Observations (RGB)=true2026.02 | 37.9 | 20.5 | |
| PixNavUnsupervised=false, Zero-shot=true2026.05 | 37.9 | 20.5 | |
| DD-PPOObservations (Odom.)=true, Observations (Depth)=true, Observations (RGB)=true2026.02 | 27.9 | 14.2 | |
| ZSONObservations (Odom.)=false, Observations (Depth)=false, Observations (RGB)=true2026.02 | 25.5 | 12.6 | |
| ZSONUnsupervised=false, Zero-shot=true2026.05 | 25.5 | 12.6 |