Vision-Language Navigation on R2R (test unseen)
86SRHuman
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Human2020.02 | 86 | 1.61 | — | 76 | 11.85 | — | |
| Humanprotocol=single-run, pre-trained_encoders=false2021.07 | 86 | 1.61 | — | 76 | 11.85 | — | |
| Human2021.10 | 86 | 1.61 | — | 76 | 11.85 | — | |
| Humansetting=single-run2021.06 | 86 | 1.61 | — | 76 | 11.85 | — | |
| Human2022.10 | 86 | 1.61 | — | 76 | 11.9 | — | |
| 3D Gaussian Map2026.05 | 75 | 3.17 | — | 65 | 14.58 | — | |
| decay+anti-loopvariant=decay+anti-loop2026.07 | 74 | 3.38 | — | 63 | 13.8 | 1,329.56 | |
| BSG2026.05 | 73 | 3.19 | — | 62 | 14.86 | — | |
| BEVBert2026.05 | 73 | 3.13 | — | 62 | — | — | |
| BEVBert2026.07 | 73 | 3.15 | — | 62 | 15.88 | — | |
| GridMM (baseline)2026.07 | 73 | 3.35 | — | 62 | 14.43 | 2,312.52 | |
| decay-onlyvariant=decay-only2026.07 | 73 | 3.19 | — | 62 | 14.52 | 1,621.34 | |
| VLN-SIG2023.12 | 72 | — | — | 60 | — | — | |
| update-onlyvariant=update-only2026.07 | 72 | 3.37 | — | 59 | 16.2 | 1,725.22 | |
| full-modevariant=full-mode2026.07 | 72 | 3.3 | — | 60 | 15.95 | 2,475.63 | |
| AuxRNEvaluation Setting=Beam Search2019.11 | 71 | — | — | 21 | 41 | — | |
| Meta-Explore2023.12 | 71 | 3.57 | — | 61 | 14.25 | — | |
| AZHP2023.12 | 71 | 3.52 | — | 60 | 14.95 | — | |
| DUET+SDB2026.04 | 70 | 3.58 | — | 61 | 14.4 | — | |
| Environmental DropoutEvaluation Setting=Beam Search2019.11 | 69 | — | — | 1 | 687 | — | |
| DUET2023.12 | 69 | 3.65 | — | 59 | 14.73 | — | |
| DUET2026.04 | 69 | 3.65 | — | 59 | 14.73 | — | |
| DUET2026.04 | 69 | 3.65 | — | 59 | 14.73 | — | |
| DUET2026.05 | 69 | 3.65 | — | 59 | 14.73 | — | |
| DUET2026.07 | 69 | 3.63 | — | 59 | 14.71 | — | |
| EnvEdit (on HAMT)Setting=Single-run, Pre-trained=true, Base Model=HAMT, Ensemble=true2022.03 | 68.2 | 3.59 | — | 63.9 | 11.9 | — | |
| AuxRNEvaluation Setting=Pre-explore2019.11 | 68 | 3.69 | 75 | 65 | — | — | |
| EnvEditEnsemble=True2022.10 | 68 | 3.59 | — | 64 | 11.9 | — | |
| NaviLLM2023.12 | 68 | 3.71 | — | 60 | 13.21 | — | |
| S-EGIU2026.04 | 68 | 3.43 | — | 60 | 13.96 | — | |
| TD-STP2026.05 | 67 | 3.73 | — | 61 | — | — | |
| TD-STP2026.07 | 67 | 3.72 | — | 61 | — | — | |
| VLN↻Bert+REMsetting=single-run2021.06 | 65.2 | 3.87 | — | 59.1 | 13.11 | — | |
| REMSetting=Single-run, Pre-trained=true2022.03 | 65.2 | 3.87 | — | 59.1 | 13.11 | — | |
| HAMTSetting=Single-run, Pre-trained=true2022.03 | 65 | 3.93 | — | 60 | 12.27 | — | |
| HAMT2022.10 | 65 | 3.93 | — | 60 | 12.27 | — | |
| REM2022.10 | 65 | 3.87 | — | 59 | 13.11 | — | |
| HAMTSetting=single-run2021.10 | 65 | 3.93 | — | 60 | 12.27 | — | |
| HAMT2023.12 | 65 | 3.93 | — | 60 | 12.27 | — | |
| HAMT2026.04 | 65 | 3.93 | — | 60 | 12.27 | — | |
| HAMT2026.05 | 65 | 3.93 | — | 60 | 12.27 | — | |
| LANA2026.05 | 65 | — | — | 60 | 12.6 | — | |
| HAMT2026.07 | 65 | 3.95 | — | 60 | 12.27 | — | |
| Environmental DropoutEvaluation Setting=Pre-explore2019.11 | 64 | 3.97 | 70 | 61 | — | — | |
| HOP2023.12 | 64 | 3.83 | — | 59 | 12.68 | — | |
| HOP2026.05 | 64 | 3.83 | — | 59 | 12.68 | — | |
| HOP2026.07 | 64 | 3.87 | — | 59 | 12.71 | — | |
| Reinforced Cross-ModalEvaluation Setting=Beam Search2019.11 | 63 | — | — | 2 | 358 | — | |
| VLNBert (init. PREVALENT)protocol=single-run, pre-trained_encoders=true2021.07 | 63 | 4.09 | — | 57 | 12.35 | — | |
| VLN↻BERT (init. PREVALENT)Pretraining Web=true, Pretraining VLN=false, Initialization=PREVALENT2021.10 | 63 | 4.09 | — | 57 | 12.35 | — | |
| VLN↻Bertsetting=single-run2021.06 | 63 | 4.09 | — | 57 | 12.35 | — | |
| GBERTSetting=Single-run, Pre-trained=true2022.03 | 63 | 4.09 | — | 57 | 12.35 | — | |
| RecBERT2022.10 | 63 | 4.09 | — | 57 | 12.35 | — | |
| RecBERTSetting=single-run2021.10 | 63 | 4.09 | — | 57 | 12.35 | — | |
| VLN-BERT2023.12 | 63 | 4.09 | — | 57 | 12.35 | — | |
| VLN-PETL2023.12 | 63 | 4.1 | — | 58 | 12.3 | — | |
| Recinitialization=PREVALENT2021.08 | 63 | 4.09 | — | 57 | 12.35 | — | |
| RecBERT2026.04 | 63 | 4.09 | — | 57 | 12.35 | — | |
| RecBERT2026.04 | 63 | 4.09 | — | 57 | 12.35 | — | |
| HAMT2026.04 | 63 | 4.11 | — | 58 | 12.65 | — | |
| RecBERT2026.05 | 63 | 4.09 | — | 57 | 12.35 | — | |
| VLNBERT2026.07 | 63 | 4.11 | — | 57 | 12.37 | — | |
| AirBERTSetting=Single-run, Pre-trained=true2022.03 | 62 | 4.13 | — | 57 | 12.41 | — | |
| AirBERT2022.10 | 62 | 4.13 | — | 57 | 12.41 | — | |
| MARVALAgent training protocol=DAGGER2022.10 | 62 | 4.18 | — | 58 | 10.22 | — | |
| Recinitialization=Airbert2021.08 | 62 | 4.13 | — | 57 | 12.41 | — | |
| AirBERT2026.07 | 62 | 4.15 | — | 57 | 12.4 | — | |
| SEvol2026.07 | 62 | 4.17 | — | 57 | 13.42 | — | |
| VLN↻Bertsetting=single-run, reproduced=true2021.06 | 61.4 | 4.35 | — | 56.7 | 11.68 | — | |
| Reinforced Cross-ModalEvaluation Setting=Pre-explore2019.11 | 61 | 4.21 | 67 | 59 | — | — | |
| Self-MonitoringEvaluation Setting=Beam Search2019.11 | 61 | — | — | 2 | 373 | — | |
| FASTEvaluation Setting=Beam Search2019.11 | 61 | — | — | 3 | 196.53 | — | |
| SSM2026.05 | 61 | 4.57 | — | 46 | 20.4 | — | |
| EnvEdit (on EnvDrop-CLIP)Setting=Single-run, Pre-trained=false, Base Model=EnvDrop-CLIP2022.03 | 60.6 | 4.3 | — | 54.4 | 16.84 | — | |
| Active2026.05 | 60 | 4.33 | — | 41 | 21.6 | — | |
| PREVALENTInstruction Setting=Multiple (M)2020.02 | 59 | 4.52 | — | 56 | 10.21 | — | |
| EnvDrop-CLIPSetting=Single-run, Pre-trained=false2022.03 | 59 | — | — | 53 | — | — | |
| EnvDrop+2022.10 | 59 | — | — | 53 | — | — | |
| NvEMprotocol=single-run, pre-trained_encoders=false2021.07 | 58 | 4.37 | — | 54 | 12.98 | — | |
| VLN↻BERT (init. OSCAR) (reproduced)Pretraining Web=true, Pretraining VLN=true, Initialization=OSCAR, reproduced=true2021.10 | 58 | 4.55 | — | 52 | 12.78 | — | |
| SOATPretraining Web=true, Pretraining VLN=true2021.10 | 58 | 4.49 | — | 53 | 12.26 | — | |
| SOAT2026.05 | 58 | 4.49 | — | 53 | 12.26 | — | |
| PRESSInstruction Setting=Multiple (M)2020.02 | 57 | 4.53 | — | 53 | 10.52 | — | |
| VLNBert (init. OSCAR)protocol=single-run, pre-trained_encoders=true2021.07 | 57 | 4.59 | — | 53 | 12.34 | — | |
| VLN↻BERT (init. OSCAR)Pretraining Web=true, Pretraining VLN=false, Initialization=OSCAR2021.10 | 57 | 4.59 | — | 53 | 12.34 | — | |
| Recinitialization=OSCAR2021.08 | 57 | 4.59 | — | 53 | 12.34 | — | |
| The Regretful AgentEvaluation Setting=Single Run2019.11 | 56 | 5.69 | 48 | 40 | — | — | |
| AuxRNEvaluation Setting=Single Run2019.11 | 55 | 5.15 | 62 | 51 | — | — | |
| AuxRNprotocol=single-run, pre-trained_encoders=false2021.07 | 55 | 5.15 | — | 51 | — | — | |
| RelGraphprotocol=single-run, pre-trained_encoders=false2021.07 | 55 | 4.75 | — | 52 | 10.29 | — | |
| AuxRNsetting=single-run2021.06 | 55 | 5.15 | — | 51 | — | — | |
| RelGraphsetting=single-run2021.06 | 55 | 4.75 | — | 52 | 10.29 | — | |
| AuxRNSetting=single-run2021.10 | 55 | 5.15 | — | 51 | — | — | |
| RelGraphSetting=single-run2021.10 | 55 | 4.75 | — | 52 | 10.29 | — | |
| AuxRN2026.05 | 55 | 5.15 | — | 51 | — | — | |
| EnvDrop+REMsetting=single-run2021.06 | 54.1 | 5.4 | — | 50.4 | 10.73 | — | |
| FASTEvaluation Setting=Single Run2019.11 | 54 | 5.14 | — | 41 | — | — | |
| Speaker-FollowerEvaluation Setting=Beam Search2019.11 | 54 | — | — | 1 | 1,257 | — | |
| FASTInstruction Setting=Single (S), Decoding Strategy=Greedy2020.02 | 54 | 5.14 | — | 41 | 22.08 | — | |
| PREVALENTInstruction Setting=Single (S), Decoding Strategy=Greedy2020.02 | 54 | 5.3 | — | 51 | 10.51 | — |