Ordinal Consistency Evaluation on Gibson Habitat (val)
0.84Kendall’s τ (20 steps)VLD (synthetic)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| VLD (synthetic)Training data=Synthetic Habitat data2025.12 | 0.84 | 0.74 | 0.71 | |
| VLD (all)Training data=Synthetic + Real-world2025.12 | 0.84 | 0.73 | 0.71 | |
| ViNT-TunedFine-tuned=true2025.12 | 0.78 | 0.65 | 0.64 | |
| VIP-NavVariant=Navigation-oriented2025.12 | 0.65 | 0.51 | 0.5 | |
| VIP-DINOv2Backbone=DINOv2 (frozen)2025.12 | 0.62 | 0.52 | 0.51 | |
| ViNTFine-tuned=false2025.12 | 0.53 | 0.41 | 0.39 | |
| VIPBackbone=ResNet-502025.12 | 0.39 | 0.3 | 0.29 | |
| VLD (real-world)Training data=Real-world trajectories2025.12 | 0.12 | 0.1 | 0.09 |