ResearchBenchmarksPoint-goal navigation on InternScenes-Home Unseen v1.0 (test)Point-goal navigation on InternScenes-Home Unseen v1.0 (test)Follow58.7Success RateGRPO-based Diffusion Fine-tuning (Ours)10.23622.81835.447.982Mar 13, 2026Evaluation resultsMethodMethodLinksSuccess RateSPLGRPO-based Diffusion Fine-tuning (Ours)2026.0358.753.7DPPO2026.0352.748.8NavDP2026.035249ViPlanner2026.0340.239iPlanner2026.0336.234.5DD-PPO2026.0312.136.2