# Vision-and-Language Navigation on Room-to-Room (R2R) VLN-CE (val unseen) Source: [Vision-and-Language Navigation on Room-to-Room (R2R) VLN-CE (val unseen)]() Collection index: [llms.txt]() Data updated: 2026-03-19T08:51:54.526Z Evaluation of Vision-and-Language Navigation performance on the Room-to-Room (R2R) VLN-CE dataset using the 'val unseen' split, measured by NE, OS, SR, and SPL. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Vision-and-Language Navigation | | Dataset (including any stated split) | Room-to-Room (R2R) VLN-CE (val unseen) | | Metric | Navigation Error (NE) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 17 of 17 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Navigation Error (NE)](): Lower is better; unit: SCALAR. - [Optimal Success (OS)](): Higher is better; unit: PERCENT. - [Success Rate (SR)](): Higher is better; unit: PERCENT. - [SPL Score (SPL)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Navigation Error (NE) | Result date | Report paper | | --- | --- | --- | --- | | ETPNav\* | 4.71 | Not recorded | 68fa7bae1e209131cea89d85 | | ScaleVLN\* | 4.8 | Not recorded | 68fa7bae1e209131cea89d85 | | MapNav | 4.93 | Not recorded | 68fa7bae1e209131cea89d85 | | GridMM\* | 5.11 | Not recorded | 68fa7bae1e209131cea89d85 | | StreamVLN† | 5.26 | Not recorded | 68fa7bae1e209131cea89d85 | | NaVILA | 5.37 | Not recorded | 68fa7bae1e209131cea89d85 | | StreamVLN | 5.43 | Not recorded | 68fa7bae1e209131cea89d85 | | NaVid | 5.47 | Not recorded | 68fa7bae1e209131cea89d85 | | VLN BERT\* | 5.74 | Not recorded | 68fa7bae1e209131cea89d85 | | ETPNav + FF | 5.95 | Not recorded | 68fa7bae1e209131cea89d85 | | CMA\* | 6.2 | Not recorded | 68fa7bae1e209131cea89d85 | | HPN+DN\* | 6.31 | Not recorded | 68fa7bae1e209131cea89d85 | | LAW | 6.83 | Not recorded | 68fa7bae1e209131cea89d85 | | InstructNav | 6.89 | Not recorded | 68fa7bae1e209131cea89d85 | | CMA | 7.37 | Not recorded | 68fa7bae1e209131cea89d85 | | Seq2Seq | 7.77 | Not recorded | 68fa7bae1e209131cea89d85 | | R2R-CMTP | 7.9 | Not recorded | 68fa7bae1e209131cea89d85 | ### ETPNav\* Navigation Error (NE): 4.71. Result ID: 69bbb92747f34ce924a5b060. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false","Waypoint predictor":"from \[18\]"}. This record does not assert independent reproduction. ### ScaleVLN\* Navigation Error (NE): 4.8. Result ID: 69bbb92747f34ce924a5b061. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false","Waypoint predictor":"from \[18\]"}. This record does not assert independent reproduction. ### MapNav Navigation Error (NE): 4.93. Result ID: 69bbb92747f34ce924a5b069. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"false","Single RGB":"true"}. This record does not assert independent reproduction. ### GridMM\* Navigation Error (NE): 5.11. Result ID: 69bbb92747f34ce924a5b05f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false","Waypoint predictor":"from \[18\]"}. This record does not assert independent reproduction. ### StreamVLN† Navigation Error (NE): 5.26. Result ID: 69bbb92747f34ce924a5b06c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"false","Single RGB":"true","Training data":"extra transferred SID-VLN training data"}. This record does not assert independent reproduction. ### NaVILA Navigation Error (NE): 5.37. Result ID: 69bbb92747f34ce924a5b06a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"false","Single RGB":"true"}. This record does not assert independent reproduction. ### StreamVLN Navigation Error (NE): 5.43. Result ID: 69bbb92747f34ce924a5b06b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"false","Single RGB":"true"}. This record does not assert independent reproduction. ### NaVid Navigation Error (NE): 5.47. Result ID: 69bbb92747f34ce924a5b068. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"false","Single RGB":"true"}. This record does not assert independent reproduction. ### VLN BERT\* Navigation Error (NE): 5.74. Result ID: 69bbb92747f34ce924a5b05e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false","Waypoint predictor":"from \[18\]"}. This record does not assert independent reproduction. ### ETPNav + FF Navigation Error (NE): 5.95. Result ID: 69bbb92747f34ce924a5b065. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"true","Depth":"true","Single RGB":"true"}. This record does not assert independent reproduction. ### CMA\* Navigation Error (NE): 6.2. Result ID: 69bbb92747f34ce924a5b05d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false","Waypoint predictor":"from \[18\]"}. This record does not assert independent reproduction. ### HPN+DN\* Navigation Error (NE): 6.31. Result ID: 69bbb92747f34ce924a5b05c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false","Waypoint predictor":"from \[18\]"}. This record does not assert independent reproduction. ### LAW Navigation Error (NE): 6.83. Result ID: 69bbb92747f34ce924a5b064. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"true","Depth":"true","Single RGB":"true"}. This record does not assert independent reproduction. ### InstructNav Navigation Error (NE): 6.89. Result ID: 69bbb92747f34ce924a5b062. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"false","Single RGB":"false"}. This record does not assert independent reproduction. ### CMA Navigation Error (NE): 7.37. Result ID: 69bbb92747f34ce924a5b067. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"true","Single RGB":"true"}. This record does not assert independent reproduction. ### Seq2Seq Navigation Error (NE): 7.77. Result ID: 69bbb92747f34ce924a5b066. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"false","Odometry":"false","Depth":"true","Single RGB":"true"}. This record does not assert independent reproduction. ### R2R-CMTP Navigation Error (NE): 7.9. Result ID: 69bbb92747f34ce924a5b063. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Panoramic view":"true","Odometry":"true","Depth":"true","Single RGB":"false"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.