Object Navigation on HM3D v1
79.1SRVLingNav
Evaluation results
| Method | Links | ||
|---|---|---|---|
| VLingNavTraining-Free=false2026.06 | 79.1 | 42.9 | |
| Uni-NaVidTraining-Free=false2026.06 | 73.7 | 37.1 | |
| IntentNavLearning=Yes2026.06 | 70.5 | 34.6 | |
| SysNavOpen-Set=true, Zero-Shot=true2026.03 | 63.7 | 30.5 | |
| SysNavLearning=No2026.06 | 63.7 | 30.5 | |
| ConsistNavUnsupervised=Yes, Zero-shot=Yes2026.05 | 63.2 | 34.8 | |
| STRIVELearning=No2026.06 | 62.9 | 34.2 | |
| Hierarchical 3D Scene Graph (Ours)Training-Free=true2026.06 | 61.6 | 33.9 | |
| BeliefMapNavLearning=No2026.06 | 61.4 | 30.4 | |
| BeliefMapNavTraining-Free=true2026.06 | 61.4 | 30.6 | |
| ApexNavOpen-Set=true, Zero-Shot=true2026.03 | 59.6 | 33 | |
| ApexNavUnsupervised=Yes, Zero-shot=Yes2026.05 | 59.6 | 33 | |
| ApexNavLearning=No2026.06 | 59.6 | 33 | |
| ApexNavTraining-Free=true2026.06 | 59.6 | 33 | |
| FBN-NavTraining-Free=true2026.06 | 58.8 | 31.2 | |
| ImagineNav++Training-Free=true2026.06 | 58.5 | 26.6 | |
| WMNavLearning=No2026.06 | 58.1 | 31.2 | |
| PIGEONLearning=No2026.06 | 57.9 | 32.3 | |
| CompassNavLearning=Yes2026.06 | 56.6 | 27.6 | |
| TriHelperOpen-Set=true, Zero-Shot=true2026.03 | 56.5 | 25.3 | |
| TriHelperUnsupervised=Yes, Zero-shot=Yes2026.05 | 56.5 | 25.3 | |
| TriHelperLearning=No2026.06 | 56.5 | 25.3 | |
| OpenFMNavOpen-Set=true, Zero-Shot=true2026.03 | 54.9 | 24.4 | |
| OpenFMNavUnsupervised=Yes, Zero-shot=Yes2026.05 | 54.9 | 24.4 | |
| OpenFMNavLearning=No2026.06 | 54.9 | 24.4 | |
| UniGoalTraining-Free=true2026.06 | 54.5 | 25.1 | |
| ProcTHORUnsupervised=No, Zero-shot=No2026.05 | 54.4 | 31.8 | |
| SG-NavOpen-Set=true, Zero-Shot=true2026.03 | 54 | 24.9 | |
| SG-NavUnsupervised=Yes, Zero-shot=Yes2026.05 | 54 | 24.9 | |
| SG-Nav-GPTLearning=No2026.06 | 54 | 24.9 | |
| SG-NavTraining-Free=true2026.06 | 54 | 24.9 | |
| ImagineNavTraining-Free=true2026.06 | 53 | 23.8 | |
| VLFMOpen-Set=true, Zero-Shot=true2026.03 | 52.5 | 30.4 | |
| VLFMUnsupervised=Yes, Zero-shot=Yes2026.05 | 52.5 | 30.4 | |
| VLFMLearning=No2026.06 | 52.5 | 30.4 | |
| VLFMTraining-Free=true2026.06 | 52.5 | 30.4 | |
| L3MVNOpen-Set=false, Zero-Shot=true2026.03 | 50.4 | 23.1 | |
| L3MVNTraining-Free=true2026.06 | 50.4 | 23.1 | |
| VoroNavOpen-Set=true, Zero-Shot=true2026.03 | 42 | 26 | |
| VoroNavTraining-Free=true2026.06 | 42 | 26 | |
| ESCOpen-Set=true, Zero-Shot=true2026.03 | 39.2 | 22.3 | |
| ESCLearning=Yes2026.06 | 39.2 | 22.3 | |
| ESCTraining-Free=true2026.06 | 39.2 | 22.3 | |
| PixNavLearning=Yes2026.06 | 37.9 | 20.5 | |
| NavidLearning=Yes2026.06 | 32.5 | 21.6 | |
| ZSONUnsupervised=Yes, Zero-shot=No2026.05 | 25.5 | 12.6 | |
| ZSONLearning=Yes2026.06 | 25.5 | 12.6 | |
| ZSONTraining-Free=false2026.06 | 25.5 | 12.6 | |
| ProcTHOR-ZSUnsupervised=Yes, Zero-shot=No2026.05 | 13.2 | 7.7 |