Point-goal navigation on InternVLA-N1 Commercial
91Success Rate (SR)SPAN-Nav
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| SPAN-NavObs.=RGB, Zero-shot=true2026.03 | 91 | 88.1 | |
| MM-Nav (multi-view)Observation=RGB2025.10 | 89.9 | 85.5 | |
| MM-Nav (single view)Observation=RGB2025.10 | 86.7 | 84.7 | |
| SPAN-Nav (w/o CoT)Obs.=RGB, Zero-shot=true2026.03 | 85.2 | 82.3 | |
| SIDPObservation=RGB-D2025.10 | 81.2 | 73.4 | |
| SPAN-Nav (w/o Occ.)Obs.=RGB, Zero-shot=true2026.03 | 75.1 | 73.1 | |
| NavDPObservation=RGB-D2025.10 | 74.1 | 70.5 | |
| MM-Nav (without VQA)Observation=RGB2025.10 | 73.9 | 72.6 | |
| InternVLA-N1 (S1)Obs.=RGB-D, Zero-shot=false2026.03 | 71.4 | 68.2 | |
| InternVLA-N1(S1)Observation=RGB-D2025.10 | 71.4 | 68.2 | |
| LoGoPlannerObs.=RGB-D, Zero-shot=false2026.03 | 67.1 | 63.9 | |
| LoGoPlannerObservation=RGB-D2025.10 | 67.1 | 63.9 | |
| ViPlannerObs.=RGB-D, Zero-shot=true2026.03 | 63.7 | 61.9 | |
| ViPlannerObservation=RGB-D2025.10 | 63.7 | 61.9 | |
| MM-NavObs.=RGB, Zero-shot=true2026.03 | 61.1 | 60.8 | |
| iPlannerObs.=Depth, Zero-shot=true2026.03 | 54.6 | 52.8 | |
| iPlannerObservation=Depth2025.10 | 54.6 | 52.8 | |
| Mixed-RLObservation=Depth2025.10 | 26.9 | 22.8 | |
| DD-PPOObs.=RGB-D, Zero-shot=true2026.03 | 5.3 | 5.2 | |
| DD-PPOObservation=RGB-D2025.10 | 5.3 | 5.2 |