ResearchBenchmarksVision-Language Navigation on HA-VLN Retrained (val-unseen)Vision-Language Navigation on HA-VLN Retrained (val-unseen)Follow-4.2Diff NEDRAE-4.41-4.305-4.2-4.095Jul 7, 2025Evaluation resultsMethodMethodLinksDiff NENE (w/o human)SR (w/o human)NE (w/ human)SR (w/ human)Diff SRNESRDRAERetrained=trueRetrained=true2025.07-4.26455.755011.1——DRAEmeasurement=difference...measurement=difference (w/ human vs w/o human)2025.07-4.2————11.1——DRAEhuman_presence=w/o humanhuman_presence=w/o human2025.07——————645DRAEhuman_presence=w/ humanhuman_presence=w/ human2025.07——————5.7550