Object Navigation on HM3D
76.2Success Rate (SR)FSUNav_Cerebrum
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| FSUNav_CerebrumTraining-Free=Yes, Universal=Yes2026.04 | 76.2 | 40.49 | — | |
| UniNavidTrain cost=•••2026.06 | 73.7 | 37.1 | 50.3 | |
| CogNavTraining-Free=Yes, Universal=No2026.04 | 72.5 | 26.2 | — | |
| CogNav2026.06 | 72.5 | 26.2 | 36.1 | |
| AERR-NavVenue=ours, Zero-shot=true2026.03 | 72.3 | 35.6 | — | |
| TravExplorerZero-shot=true, Cross-Floor=true2026.05 | 70 | 37.2 | — | |
| ASCENTVenue=RAL’26, Zero-shot=true2026.03 | 65.4 | 33.5 | — | |
| ASCENTZero-shot=true, Cross-Floor=true2026.05 | 65.4 | 33.5 | — | |
| PEANUT+LOGTraining-Free=No, Universal=No2026.04 | 64.3 | 34.2 | — | |
| PIRLNavTrain cost=•2026.06 | 64.1 | 27.1 | 42.3 | |
| BeliefMapNavVenue=NeurIPS’25, Zero-shot=true2026.03 | 61.4 | 30.6 | — | |
| HiCo-NavTraining Free=true2026.04 | 61 | 31.8 | — | |
| SGMZero-shot=false2026.03 | 60.2 | 30.8 | — | |
| SGMTraining Free=false2026.04 | 60.2 | 30.8 | — | |
| ApexNavTraining Free=true2026.04 | 59.6 | 33 | — | |
| ApexNavZero-shot=true, Cross-Floor=false2026.05 | 59.6 | 33 | — | |
| SSMG-NavZero-shot=true2026.03 | 59.5 | 33.7 | — | |
| MFNPZero-shot=true, Cross-Floor=true2026.05 | 58.3 | 26.7 | — | |
| WMNavZero-shot=true2026.03 | 58.1 | 31.2 | — | |
| WMNavTraining Free=true2026.04 | 58.1 | 31.2 | — | |
| RESTTraining-Free=Yes, Universal=No2026.04 | 57.3 | 33.4 | — | |
| TriHelperZero-shot=true, Cross-Floor=false2026.05 | 56.5 | 25.3 | — | |
| C-NavBackbone=HM3D-Bev, Stage Scope=Avg2025.10 | 56.3 | 24 | — | |
| C-NavBackbone=HM3D-Trans, Stage Scope=Avg2025.10 | 55.8 | 24.8 | — | |
| EffiNav2026.06 | 55 | 36.7 | 66.8 | |
| OpenFMNavZero-shot=true2026.03 | 54.9 | 24.4 | — | |
| OpenFMNavTraining-Free=Yes, Universal=No2026.04 | 54.9 | 24.4 | — | |
| OpenFMNavTraining Free=true2026.04 | 54.9 | 24.4 | — | |
| OpenFMNavZero-shot=true, Cross-Floor=false2026.05 | 54.9 | 24.4 | — | |
| UniGoalZero-shot=true2026.03 | 54.5 | 25.1 | — | |
| UniGoalTraining-Free=Yes, Universal=Yes2026.04 | 54.5 | 25.1 | — | |
| UniGoalTraining Free=true2026.04 | 54.5 | 25.1 | — | |
| SG-NavZero-shot=true2026.03 | 54 | 24.9 | — | |
| SG-NAVVenue=NeurIPS’24, Zero-shot=true2026.03 | 54 | 24.9 | — | |
| SG-NavTraining-Free=Yes, Universal=No2026.04 | 54 | 24.9 | — | |
| SG-NavTraining Free=true2026.04 | 54 | 24.9 | — | |
| SG-NavZero-shot=true, Cross-Floor=false2026.05 | 54 | 24.9 | — | |
| DPBackbone=HM3D-Bev, Stage Scope=Avg2025.10 | 53.2 | 23 | — | |
| DPBackbone=HM3D-Trans, Stage Scope=Avg2025.10 | 52.7 | 22.1 | — | |
| VLFMZero-shot=true2026.03 | 52.5 | 30.4 | — | |
| VLFMVenue=ICRA’24, Zero-shot=true2026.03 | 52.5 | 30.4 | — | |
| OpenFMNavVenue=NAACL’24, Zero-shot=true2026.03 | 52.5 | 24.1 | — | |
| VLFMTraining-Free=Yes, Universal=No2026.04 | 52.5 | 30.4 | — | |
| VLFMTraining Free=true2026.04 | 52.5 | 30.4 | — | |
| VLFMZero-shot=true, Cross-Floor=false2026.05 | 52.5 | 30.4 | — | |
| VLFM2026.06 | 52.5 | 30.4 | 57.9 | |
| VLFM†Zero-shot=true2026.03 | 52.3 | 30.3 | — | |
| DPBackbone=HM3D-LLM, Stage Scope=Avg2025.10 | 52.2 | 21.2 | — | |
| C-NavBackbone=HM3D-LLM, Stage Scope=Avg2025.10 | 52.2 | 23.1 | — | |
| InstructNavZero-shot=true2026.03 | 51 | 18.7 | — | |
| GOATTraining-Free=No, Universal=Yes2026.04 | 50.6 | 24.1 | — | |
| L3MVNZero-shot=true2026.03 | 50.4 | 23.1 | — | |
| L3MVNVenue=IROS’23, Zero-shot=true2026.03 | 50.4 | 23.1 | — | |
| L3MVNTraining Free=true2026.04 | 50.4 | 23.1 | — | |
| L3MVNZero-shot=true, Cross-Floor=false2026.05 | 50.4 | 23.1 | — | |
| C-NavBackbone=HM3D-RNN, Stage Scope=Avg2025.10 | 50 | 21 | — | |
| C-NavBackbone=HM3D-Trans, Stage Scope=Last2025.10 | 46.5 | 20.2 | — | |
| C-NavBackbone=HM3D-Bev, Stage Scope=Last2025.10 | 46.5 | 19.6 | — | |
| TopV-NavTraining Free=true2026.04 | 45.9 | 28 | — | |
| MergeBackbone=HM3D-Trans, Stage Scope=Avg2025.10 | 45.1 | 18.4 | — | |
| MergeBackbone=HM3D-Bev, Stage Scope=Avg2025.10 | 45 | 17.8 | — | |
| DyNaVLM2026.06 | 45 | 23.2 | 51.5 | |
| DPBackbone=HM3D-Bev, Stage Scope=Last2025.10 | 44.2 | 18.3 | — | |
| DPBackbone=HM3D-RNN, Stage Scope=Avg2025.10 | 44.1 | 18.6 | — | |
| MergeBackbone=HM3D-LLM, Stage Scope=Avg2025.10 | 42.5 | 16.4 | — | |
| PSLVenue=ECCV’24, Zero-shot=true2026.03 | 42.4 | 19.2 | — | |
| PSLTraining-Free=No, Universal=Yes2026.04 | 42.4 | 19.2 | — | |
| PSLTraining Free=false2026.04 | 42.4 | 19.2 | — | |
| C-NavBackbone=HM3D-LLM, Stage Scope=Last2025.10 | 42.2 | 19.3 | — | |
| Habitat-WebZero-shot=false2026.03 | 41.5 | 16 | — | |
| Habitat-WebTraining Free=false2026.04 | 41.5 | 16 | — | |
| DPBackbone=HM3D-LLM, Stage Scope=Last2025.10 | 40.9 | 15.9 | — | |
| MergeBackbone=HM3D-RNN, Stage Scope=Avg2025.10 | 40.8 | 16.4 | — | |
| C-NavBackbone=HM3D-RNN, Stage Scope=Last2025.10 | 40.3 | 16.5 | — | |
| LoRABackbone=HM3D-LLM, Stage Scope=Avg2025.10 | 39.9 | 16.2 | — | |
| FSUNav_CerebrumTraining-Free=Yes, Universal=Yes2026.04 | 39.8 | 21.58 | — | |
| DPBackbone=HM3D-Trans, Stage Scope=Last2025.10 | 39.6 | 16.5 | — | |
| ESCZero-shot=true2026.03 | 39.2 | 22.3 | — | |
| ESCVenue=ICML’23, Zero-shot=true2026.03 | 39.2 | 22.3 | — | |
| ESCTraining-Free=Yes, Universal=No2026.04 | 39.2 | 22.3 | — | |
| ESCTraining Free=true2026.04 | 39.2 | 22.3 | — | |
| ESCZero-shot=true, Cross-Floor=false2026.05 | 39.2 | 22.3 | — | |
| LoRABackbone=HM3D-Bev, Stage Scope=Avg2025.10 | 36.3 | 15.4 | — | |
| LwFBackbone=HM3D-RNN, Stage Scope=Avg2025.10 | 34.4 | 13.5 | — | |
| LoRABackbone=HM3D-Trans, Stage Scope=Avg2025.10 | 34 | 14.4 | — | |
| DPBackbone=HM3D-RNN, Stage Scope=Last2025.10 | 33.6 | 13.2 | — | |
| FinetuningBackbone=HM3D-RNN, Stage Scope=Avg2025.10 | 32.8 | 13 | — | |
| LwFBackbone=HM3D-Bev, Stage Scope=Avg2025.10 | 32.6 | 13.1 | — | |
| FinetuningBackbone=HM3D-Bev, Stage Scope=Avg2025.10 | 32 | 13.3 | — | |
| LwFBackbone=HM3D-Trans, Stage Scope=Avg2025.10 | 31.7 | 12.6 | — | |
| FinetuningBackbone=HM3D-Trans, Stage Scope=Avg2025.10 | 31.4 | 12.9 | — | |
| FinetuningBackbone=HM3D-LLM, Stage Scope=Avg2025.10 | 28.4 | 11.3 | — | |
| LwFBackbone=HM3D-LLM, Stage Scope=Avg2025.10 | 26.2 | 10.8 | — | |
| ZSONZero-shot=false2026.03 | 25.5 | 12.6 | — | |
| ZSONVenue=NeurIPS’22, Zero-shot=true2026.03 | 25.5 | 12.6 | — | |
| ZSONTraining-Free=No, Universal=No2026.04 | 25.5 | 12.6 | — | |
| ZSONTraining Free=false2026.04 | 25.5 | 12.6 | — | |
| ZSONZero-shot=false, Cross-Floor=false2026.05 | 25.5 | 12.6 | — | |
| LwFBackbone=HM3D-RNN, Stage Scope=Last2025.10 | 25.1 | 8.5 | — | |
| PIVOTTrain cost=•2026.06 | 24.6 | 10.6 | 43.1 |