Vision-and-Language Navigation on R2R-CE (val-seen)

73SRCLASH

Evaluation Results

Method
CLASH2025.12	73	12.4	3.2	—	80	65
BEVBert + FEEDTTA2026.05	73	13.54	3.08	—	79	63
IDEA2026.05	73	12.27	3.04	—	78	64
IDEA2026.05	73	12.27	3.04	—	78	64
BEVBert + VIL (Ours)2025.07	71.1	—	3.16	—	—	63
Safe-VLN2026.01	71	13.71	3.35	—	79	60
BEVBert + ATENA2026.05	71	11.31	3.24	—	75	64
BEVBert + ReCAP2026.05	71	12.4	3.31	—	76	63
ViDA2026.05	71	12.61	3.31	—	76	62
ReCAP2026.05	71	12.4	3.31	—	76	63
BEVBert2025.07	70.9	—	3.24	—	—	62.8
UnitedVLN2025.12	70	—	3.3	—	78	62
Tent2026.05	70	12.74	3.35	—	76	62
SAR2026.05	70	12.53	3.28	—	76	63
HNR2024.10	69	11.79	3.67	—	76	61
HNR2025.12	69	11.79	3.67	—	76	61
BEVBert + RLCF2026.05	69	13.74	3.56	—	74	61
BEVBert + FSTTA2026.05	69	14.07	4.11	—	74	60
FSTTA2026.05	69	14.07	4.11	—	74	60
HNR2026.07	69	11.79	3.67	—	76	61
TEN2026.06	68.8	—	3.75	—	74.6	60.2
ETPNav w/ Φ-Nav2026.07	68.63	11.29	3.38	—	75.06	61.41
ENP-ETPNav2024.10	68	11.82	3.9	—	73	59
OVL-MAP2026.01	68	11.82	3.9	—	73	59
ENP2025.07	68	—	3.9	—	—	59
BEVBert2026.05	68	13.98	3.77	—	73	60
BEVBert2026.05	68	13.98	3.77	—	73	60
IDEA2026.05	68	10.87	3.82	—	73	62
BEVBert2026.05	68	13.98	3.77	—	73	60
IDEA2026.05	68	10.87	3.82	—	73	62
BEVBert2026.06	68	—	3.77	—	73	60
Energy2026.06	68	—	3.9	—	73	59
BEVBert2026.07	68	13.98	3.77	—	73	60
ENP-ETPNav2026.07	68	11.82	3.9	—	73	59
ETPNav + VIL (Ours)2025.07	67.6	—	3.71	—	—	60.4
ETPNav + FeedTTA2026.05	67	10.88	3.85	—	72	61
ETPNav + ATENA2026.05	67	10.81	3.86	—	72	61
ETPNav2026.07	66.45	11.38	3.94	—	72.23	59.62
ETPNav2024.10	66	11.78	3.95	—	72	59
ETPNav2026.01	66	11.78	3.95	—	72	59
DGNav2026.01	66	10.79	3.78	—	72	60
ETPNav2025.12	66	11.78	3.95	—	72	59
ETPNav2026.05	66	11.78	3.95	—	72	59
ETPNav + RLCF2026.05	66	11.45	3.91	—	72	59
ETPNav2026.05	66	11.78	3.95	—	72	59
ETPNav + FSTTA2026.05	66	11.35	3.93	—	72	59
ETPNav + ReCAP2026.05	66	11.31	3.92	—	72	60
ETPNav2026.05	66	11.78	3.95	—	72	59
Tent2026.05	66	11.36	3.94	—	72	59
SAR2026.05	66	11.31	3.89	—	72	60
ViDA2026.05	66	11.58	3.91	—	72	60
FSTTA2026.05	66	11.35	3.93	—	72	59
ReCAP2026.05	66	11.31	3.92	—	72	60
ETPNav2026.06	66	—	3.95	—	72	59
ETPNav2025.07	65.8	—	3.97	—	—	59.2
g3D-LF2026.07	63	11.61	3.72	—	72	55
StreamVLN2025.12	62	—	4.53	—	68	58
Uni-Navid2026.06	59.1	—	4.4	—	64.5	55.4
DREAM2024.10	59	11.6	4.09	—	66	48
GridMM2026.01	59	12.69	4.21	—	69	51
GridMM2025.12	59	12.69	4.21	—	69	51
DreamWalker2025.12	59	11.6	4.09	—	66	48
GridMM2026.06	59	—	4.21	—	69	51
DWalker2026.06	59	—	5.53	—	66	48
Uni-NaVid2025.12	58	10.04	4.45	—	65	53
NaVILA2025.12	58	—	4.82	—	66	53
NaVILA2026.06	56.4	—	5.05	—	63.8	51.5
CM22026.06	52.8	—	4.81	—	58.3	41.8
Sim2Sim2024.10	52	11.18	4.67	—	61	44
Sim2Sim2026.01	52	11.18	4.67	—	61	44
Sim2Sim2026.06	52	—	4.67	—	61	44
Waypoint Predictor2022.03	51	11.47	5.2	61	61	45
ENP-VLNOBERT2024.10	51	12.08	4.89	—	60	44
CWP-CMA2026.01	51	11.47	5.2	—	61	45
CWP-CMA2025.12	51	11.47	5.2	—	61	45
Waypoint Predictor2022.03	50	12.5	5.02	58	59	44
VLNOBERT2024.10	50	12.5	5.02	—	59	44
CWP-RecBert2026.01	50	12.5	5.02	—	59	44
CWP-RecBERT2025.12	50	12.5	5.02	—	59	44
VLN⟳BERT2025.07	50	—	5.02	—	—	44
VLN⟳BERT2026.06	50	—	5.74	—	59	44
VLN-BERT2026.07	50	12.5	5.02	—	59	44
WSMGMap2024.10	47	10.12	5.65	—	52	43
WG-MGMap2026.01	47	10.12	5.65	—	52	43
Waypoint Models2022.03	46	8.54	5.48	—	53	43
HPN2024.10	46	8.54	5.48	—	53	43
HPN+DN2026.06	46	—	5.48	—	53	43
Navid2026.06	43.5	—	5.62	—	51.5	38.4
CM22024.10	43	12.05	6.1	—	51	35
CM22025.12	43	12.05	6.1	—	51	35
NaVid2025.12	43	10.27	5.47	—	52	38
CM22026.01	42.9	12.05	6.1	—	50.7	34.8
CMA-D-P-A w/ Φ-Nav2026.07	38.8	9.54	6.99	—	47.18	35.63
CMA-D-P-A2026.07	37.17	9.63	7.11	—	46.13	34.82
VLN-CE2022.03	37	9.26	7.12	54	46	35
LAW2022.03	37	—	—	58	40	—
VLN-CE2024.10	37	9.26	7.12	—	46	35
Seq2Seq2026.01	37	9.26	7.12	—	46	35
SASRA2022.03	36	8.89	7.17	53	—	34
CMTP2024.10	36	—	7.1	—	56	31