Referential Instructions on Navigation Environments (test)
100Success RateStandard VLA
Evaluation Results
| Method | Links | |
|---|---|---|
| Standard VLAPrompt=Move to the left of the pillar, Environment=Common area/Kitchen2025.08 | 100 | |
| Standard VLAPrompt=Move to the right of the pillar, Environment=Common area/Kitchen2025.08 | 100 | |
| CounterfactualVLAPrompt=Move to the left of the pole, Environment=Outdoors2025.08 | 80 | |
| CoNVOIPrompt=Move to the left of the pillar, Environment=Common area/Kitchen2025.08 | 80 | |
| CoNVOIPrompt=Move to the right of the pillar, Environment=Common area/Kitchen2025.08 | 80 | |
| CoNVOIPrompt=Move to the table next to the pillar, Environment=Common area/Kitchen2025.08 | 80 | |
| CounterfactualVLAPrompt=Move to the left of the chair, Environment=Office Hallway2025.08 | 60 | |
| ResNet + FiLMPrompt=Move to the door on the right, Environment=Office Hallway2025.08 | 60 | |
| ResNet + FiLMPrompt=Move to the left of the pole, Environment=Outdoors2025.08 | 60 | |
| pi_a + planningPrompt=Move to the right of the pole, Environment=Outdoors2025.08 | 60 | |
| ResNet + FiLMPrompt=Move to the table next to the pillar, Environment=Common area/Kitchen2025.08 | 60 | |
| ResNet + FiLMPrompt=Move to the left of the chair, Environment=Office Hallway2025.08 | 40 | |
| CounterfactualVLAPrompt=Move to the right of the chair, Environment=Office Hallway2025.08 | 40 | |
| CounterfactualVLAPrompt=Move to the door on the right, Environment=Office Hallway2025.08 | 40 | |
| pi_a + planningPrompt=Move to the left of the pole, Environment=Outdoors2025.08 | 40 | |
| CounterfactualVLAPrompt=Move to the right of the pole, Environment=Outdoors2025.08 | 40 | |
| ResNet + FiLMPrompt=Move to the right of the pole, Environment=Outdoors2025.08 | 40 | |
| ResNet + FiLMPrompt=Move to the left of the pillar, Environment=Common area/Kitchen2025.08 | 40 | |
| CounterfactualVLAPrompt=Move to the table next to the pillar, Environment=Common area/Kitchen2025.08 | 40 | |
| Standard VLAPrompt=Move to the left of the chair, Environment=Office Hallway2025.08 | 20 | |
| pi_a + planningPrompt=Move to the left of the chair, Environment=Office Hallway2025.08 | 20 | |
| pi_a + planningPrompt=Move to the right of the chair, Environment=Office Hallway2025.08 | 20 | |
| ResNet + FiLMPrompt=Move to the right of the chair, Environment=Office Hallway2025.08 | 20 | |
| pi_a + planningPrompt=Move to the door on the right, Environment=Office Hallway2025.08 | 20 | |
| Standard VLAPrompt=Move to the right of the pole, Environment=Outdoors2025.08 | 20 | |
| CoNVOIPrompt=Move to the right of the pole, Environment=Outdoors2025.08 | 20 | |
| Standard VLAPrompt=Move to the far tree, Environment=Outdoors2025.08 | 20 | |
| CoNVOIPrompt=Move to the far tree, Environment=Outdoors2025.08 | 20 | |
| ResNet + FiLMPrompt=Move to the far tree, Environment=Outdoors2025.08 | 20 | |
| CounterfactualVLAPrompt=Move to the left of the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| pi_a + planningPrompt=Move to the left of the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| CounterfactualVLAPrompt=Move to the right of the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| pi_a + planningPrompt=Move to the right of the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| ResNet + FiLMPrompt=Move to the right of the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| Standard VLAPrompt=Move to the table next to the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| pi_a + planningPrompt=Move to the table next to the pillar, Environment=Common area/Kitchen2025.08 | 20 | |
| CoNVOIPrompt=Move to the left of the chair, Environment=Office Hallway2025.08 | 0 | |
| Standard VLAPrompt=Move to the right of the chair, Environment=Office Hallway2025.08 | 0 | |
| CoNVOIPrompt=Move to the right of the chair, Environment=Office Hallway2025.08 | 0 | |
| Standard VLAPrompt=Move to the door on the right, Environment=Office Hallway2025.08 | 0 | |
| CoNVOIPrompt=Move to the door on the right, Environment=Office Hallway2025.08 | 0 | |
| Standard VLAPrompt=Move to the left of the pole, Environment=Outdoors2025.08 | 0 | |
| CoNVOIPrompt=Move to the left of the pole, Environment=Outdoors2025.08 | 0 | |
| CounterfactualVLAPrompt=Move to the far tree, Environment=Outdoors2025.08 | 0 | |
| pi_a + planningPrompt=Move to the far tree, Environment=Outdoors2025.08 | 0 |