Social Navigation on SCAND Out-of-Distribution (test)
0.578ADEHUMAIN
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| HUMAINInput=Vision (student distilled from teacher), Goal conditioning=Spatial coordinates2026.07 | 0.578 | 1.064 | 0.159 | |
| HUMAIN-visionDescription=Teacher trained without skeletal input, Ablation=No body language cues2026.07 | 0.585 | 1.078 | 0.157 | |
| HUMAIN-humDescription=Teacher with auxiliary human trajectory prediction head, Ablation=Explicitly predicting human trajectories2026.07 | 0.594 | 1.095 | 0.157 | |
| GNMInput=Vision-only, Goal conditioning=Goal images2026.07 | 0.753 | 1.254 | 0.219 | |
| ViNTInput=Vision-only, Goal conditioning=Goal images2026.07 | 0.756 | 1.304 | 0.203 | |
| NoMaDInput=Vision-only, Goal conditioning=Goal images2026.07 | 0.853 | 1.561 | 0.251 | |
| HST+MPCInput=High-fidelity human keypoints, Planner=Decoupled MPC2026.07 | 0.891 | 1.886 | 0.313 |