Object Navigation on HM3D v2
84.2Success Rate (SR)ConsistNav
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| ConsistNavUnsupervised=Yes, Zero-shot=Yes2026.05 | 84.2 | 41.2 | |
| VLingNavTraining-Free=false2026.06 | 83 | 40.5 | |
| IntentNavLearning=Yes2026.06 | 82.2 | 38.5 | |
| SysNavOpen-Set=true, Zero-Shot=true2026.03 | 80.8 | 37.2 | |
| SysNavLearning=No2026.06 | 80.8 | 37.2 | |
| Hierarchical 3D Scene Graph (Ours)Training-Free=true2026.06 | 80.1 | 39.5 | |
| STRIVELearning=No2026.06 | 79.6 | 38.7 | |
| PIGEONLearning=No2026.06 | 79.2 | 36.8 | |
| ApexNavOpen-Set=true, Zero-Shot=true2026.03 | 76.2 | 38 | |
| ApexNavUnsupervised=Yes, Zero-shot=Yes2026.05 | 76.2 | 38 | |
| ApexNavLearning=No2026.06 | 76.2 | 38 | |
| ApexNavTraining-Free=true2026.06 | 76.2 | 38 | |
| Uni-NavidLearning=Yes2026.06 | 73.7 | 37.1 | |
| Hydra-Nav-SFTLearning=Yes2026.06 | 72.9 | 27.7 | |
| WMNavLearning=No2026.06 | 72.2 | 33.3 | |
| VLFMOpen-Set=true, Zero-Shot=true2026.03 | 63.6 | 32.5 | |
| VLFMUnsupervised=Yes, Zero-shot=Yes2026.05 | 63.6 | 32.5 | |
| VLFMTraining-Free=true2026.06 | 63.6 | 32.5 | |
| VLFMLearning=No2026.06 | 63.5 | 32.5 | |
| InstructNavOpen-Set=true, Zero-Shot=true2026.03 | 58 | 20.9 | |
| InstructNavUnsupervised=Yes, Zero-shot=Yes2026.05 | 58 | 20.9 | |
| OmniNavLearning=Yes2026.06 | 56.1 | 30 | |
| UniGoalLearning=Yes2026.06 | 54.5 | 25.1 | |
| SG-NavOpen-Set=true, Zero-Shot=true2026.03 | 49.6 | 25.5 | |
| SG-NavUnsupervised=Yes, Zero-shot=Yes2026.05 | 49.6 | 25.5 | |
| SG-Nav-GPTLearning=No2026.06 | 49.6 | 25.5 | |
| SG-NavTraining-Free=true2026.06 | 49.6 | 25.5 | |
| L3MVNOpen-Set=false, Zero-Shot=true2026.03 | 36.3 | 15.7 | |
| L3MVNTraining-Free=true2026.06 | 36.3 | 15.7 | |
| DD-PPOLearning=Yes2026.06 | 27.9 | 14.2 |