Vision-and-Language Navigation on R2R-CE (test-unseen)

66SRCLASH

Evaluation results

Method
CLASH2025.12	66	13.06	4.1	74	58
ETP-R1 (Ours-GRPO)2025.12	64	—	4.19	69	54
DREAM2024.10	59	—	4.7	67	50
BEVBert2025.12	59	—	4.7	67	50
BEVBert2025.12	59	—	4.7	67	50
UnitedVLN2025.12	59	—	4.69	68	49
HNR2025.12	58	—	4.81	67	50
G3D-LF2025.12	58	—	4.78	68	51
HNR2025.12	58	13.03	4.81	67	50
g3D-LF2025.12	58	—	4.78	68	51
OVL-MAP2026.01	57	11.64	4.98	62	48
ScaleVLN-NavGRPO2026.03	57	—	5.01	—	52
ENP-ETPNav2024.10	56	12.71	5.08	64	48
Safe-VLN2026.01	56	15.44	5.01	54	45
DGNav2026.01	56	14.2	4.92	64	47
ETPNav2024.10	55	12.87	5.12	63	48
ETPNav2024.12	55	—	—	—	48
ETPNav2026.01	55	12.87	5.12	63	48
ScaleVLN2025.12	55	—	5.11	—	50
ETPNav2025.12	55	—	5.12	63	48
ScaleVLN2025.12	55	—	5.11	—	50
ETPNav2025.12	55	12.87	5.12	63	48
ETPNAV2026.03	55	—	5.12	—	48
ScaleVLN2026.03	55	—	5.11	—	50
SUSA2024.12	50.9	—	—	—	43.9
HNR2024.10	49	11.8	5.48	57	44
GridMM2025.12	49	13.31	5.55	57	45
DreamWalker2025.12	49	11.8	5.48	57	44
Reborn2026.03	49	—	5.55	—	45
DUET2024.12	47.1	—	—	—	40.5
Ego2-Map2026.03	47	—	5.54	—	41
COSMO2026.03	47	—	—	—	40
GridMM2024.12	46	—	—	—	39
GridMM2026.01	46	13.31	5.54	56	39
GridMM2025.12	46	—	5.64	56	39
GridMM2026.03	46	—	5.64	—	39
BEVBert2024.10	44	11.43	6.17	52	37
ENP-VLNOBERT2024.10	44	13.21	5.68	52	36
Sim2Sim2026.01	44	11.43	6.17	52	37
Sim2Sim2026.03	44	—	6.17	—	37
DUET-NavGRPO2026.03	44	—	5.64	—	38
Waypoint Predictor2022.03	42	13.31	5.89	51	36
VLNOBERT2024.10	42	13.51	5.89	51	36
CWP-RecBert2026.01	42	13.51	5.89	51	36
VLN↻BERT2025.12	42	—	5.89	51	36
CWP-RecBERT2025.12	42	13.51	5.89	51	36
VLN⟳BERT2026.03	42	—	5.89	—	36
DUET2026.03	42	—	5.82	—	36
Waypoint Predictor2022.03	38	11.85	6.3	49	33
CWP-CMA2026.01	38	11.85	6.3	49	33
CWP-CMA2025.12	38	11.85	6.3	49	33
CMA2026.03	38	—	6.3	—	33
Sim2Sim2024.10	35	12.3	7.11	45	28
WG-MGMap2026.01	35	12.3	7.11	45	28
MGMap2026.03	35	—	7.11	—	28
Waypoint Models2022.03	32	8.02	6.65	37	30
HPN2024.10	32	8.02	6.65	37	30
WSMGMap2024.10	31	13.9	7.7	39	24
CM22026.01	31	13.9	7.7	39	24
CM22025.12	31	13.9	7.7	39	24
VLN-CE2022.03	28	8.85	7.91	36	25
VLN-CE2024.10	28	8.85	7.91	36	25
Seq2Seq2026.01	28	8.85	7.91	36	25