Vision-Language Navigation on OpenUAV unseen hard 1.0 (test)
57.07Navigation Error (NE)LongFly(Ours)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| LongFly(Ours)spatiotemporal context integration=true, backbone=Qwen2025.12 | 57.07 | 50.25 | 74.16 | 45.27 | — | — | |
| BS(Ours)spatiotemporal context integration=false, backbone=Qwen2025.12 | 98.84 | 23.57 | 37.25 | 21.49 | — | — | |
| DynFly2026.06 | 99.73 | 28.93 | 51.55 | 25.63 | 17.38 | 9.73 | |
| SpatialFly2026.03 | 108.56 | 25.71 | 44.63 | 23.01 | — | — | |
| SpatialFly2026.06 | 108.56 | 25.71 | 44.63 | 23.01 | 12.08 | 6.91 | |
| LongFly2025.12 | 112.02 | 25.36 | 44.41 | 22.76 | — | — | |
| LongFly2026.03 | 112.02 | 25.36 | 44.41 | 22.76 | — | — | |
| LongFly2026.06 | 112.02 | 25.36 | 44.41 | 22.76 | 9.51 | 5.81 | |
| NavFoM2025.12 | 133.01 | 28.03 | 46.18 | 25.64 | — | — | |
| BSDescription=Qwen-based base system without SHIC and STE2025.12 | 133.49 | 11.55 | 23.45 | 10.52 | — | — | |
| BS2026.03 | 133.49 | 11.55 | 23.45 | 10.52 | — | — | |
| TravelUAV2025.12 | 134.03 | 21.43 | 45.71 | 19.75 | — | — | |
| SpatialFlyvariant=Ours Full2026.03 | 145.63 | 10.24 | 25.12 | 9.04 | — | — | |
| LongFly(Ours)2025.12 | 148.1 | 9.02 | 24.88 | 7.98 | — | — | |
| LongFly2026.03 | 148.1 | 9.02 | 24.88 | 7.98 | — | — | |
| NavFoM2025.12 | 155.69 | 14.35 | 27.79 | 13.16 | — | — | |
| NavFoM2026.03 | 155.69 | 14.35 | 27.79 | 13.16 | — | — | |
| NavFoM2026.06 | 155.69 | 14.35 | 27.79 | 13.16 | — | — | |
| BS(Ours)2025.12 | 156.24 | 3.66 | 14.39 | 3.32 | — | — | |
| BSvariant=Ours Baseline2026.03 | 156.24 | 3.66 | 14.39 | 3.32 | — | — | |
| TravelUAV2025.12 | 167.49 | 10.62 | 28.91 | 9.8 | — | — | |
| TravelUAV2026.03 | 167.49 | 10.62 | 28.91 | 9.8 | — | — | |
| TravelUAV2026.06 | 167.49 | 10.62 | 28.91 | 9.8 | — | — | |
| NavFoM2025.12 | 170.58 | 5.36 | 15.71 | 4.97 | — | — | |
| NavFoM2026.03 | 170.58 | 5.36 | 15.71 | 4.97 | — | — | |
| CMA2025.12 | 182.09 | 6.19 | 12.86 | 6.08 | — | — | |
| TravelUAV2025.12 | 189.46 | 3.53 | 17.88 | 3.28 | — | — | |
| TravelUAV2026.03 | 189.46 | 3.53 | 17.88 | 3.28 | — | — | |
| CMA2025.12 | 191.3 | 2.76 | 7.53 | 2.71 | — | — | |
| CMA2026.03 | 191.3 | 2.76 | 7.53 | 2.71 | — | — | |
| CMA2026.06 | 191.3 | 2.76 | 7.53 | 2.71 | — | — | |
| CMA2025.12 | 197.35 | 0.5 | 4.03 | 0.5 | — | — | |
| CMA2026.03 | 197.35 | 0.5 | 4.03 | 0.5 | — | — | |
| Fixed Action2025.12 | 243.29 | 2.14 | 7.38 | 1.38 | — | — | |
| Fixed Action2025.12 | 245.96 | 0.85 | 3.08 | 0.55 | — | — | |
| Fixed Action2026.03 | 245.96 | 0.85 | 3.08 | 0.55 | — | — | |
| Fixed Action2026.06 | 245.96 | 0.85 | 3.08 | 0.55 | — | — | |
| Fixed Action2025.12 | 247.72 | 0 | 0.25 | 0 | — | — | |
| Fixed Action2026.03 | 247.72 | 0 | 0.25 | 0 | — | — | |
| Random Action2025.12 | 265.88 | 0 | 0 | 0 | — | — | |
| Random Action2026.03 | 265.88 | 0 | 0 | 0 | — | — | |
| Random Action2025.12 | 280.58 | 0 | 0 | 0 | — | — | |
| Random Action2026.03 | 280.58 | 0 | 0 | 0 | — | — | |
| Random Action2026.06 | 280.58 | 0 | 0 | 0 | — | — | |
| Random Action2025.12 | 302.96 | 0 | 0 | 0 | — | — |