Vision-Language Navigation on R2R Unseen (test)
86SRHuman
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Human2022.04 | 86 | — | 1.61 | 0.76 | — | 11.85 | |
| Human2023.03 | 86 | — | 1.61 | 0.76 | — | 11.85 | |
| SRDFlarge-scale data augmentation=true2025.08 | 84 | — | 1.88 | 0.77 | 88 | — | |
| SkillNav (SRDF-Aug)large-scale data augmentation=true, visual encoder=InternViT-6B, action router=GPT-4o2025.08 | 84 | — | 1.76 | 0.77 | 87 | — | |
| SkillNav (ScaleVLN-Aug)large-scale data augmentation=true, visual encoder=CLIP-B/16, language backbone=BERT-base-uncased, action router=GPT-4o2025.08 | 78 | — | 2.53 | 0.7 | 83 | — | |
| Airbert2021.08 | 77 | 687 | 2.69 | 0.01 | 99 | — | |
| ScaleVLNlarge-scale data augmentation=true2025.08 | 77 | — | 2.73 | 0.68 | 84 | — | |
| GOAT2024.04 | 74.57 | — | 3.04 | 0.6494 | 80.35 | — | |
| BTK2026.03 | 74 | — | 3.07 | 0.63 | 81 | — | |
| SAMElarge-scale data augmentation=true2025.08 | 74 | — | 3.03 | 0.64 | — | — | |
| VLN-BERTInference=Beam search2020.04 | 73 | 687 | 3.09 | 0.01 | 99 | — | |
| GridMM2024.04 | 73 | — | 3.35 | 0.62 | — | — | |
| BEVBert2024.04 | 73 | — | 3.13 | 0.62 | 81 | — | |
| GridMM2024.12 | 73 | — | — | 0.62 | — | — | |
| VLN-BERT2021.08 | 73 | 687 | 3.09 | 0.01 | 99 | — | |
| GridMM2026.03 | 73 | — | 3.35 | 0.62 | — | — | |
| BEVBert2026.03 | 73 | — | 3.13 | 0.62 | 81 | — | |
| BSG2026.03 | 73 | — | 3.19 | 0.62 | — | — | |
| BEVBERT2025.08 | 73 | — | 3.13 | 0.62 | 81 | — | |
| SUSA2024.12 | 72.5 | — | 3.2 | 0.638 | — | — | |
| DSRG2024.04 | 72 | — | 3.33 | 0.61 | 78 | — | |
| CONSOLE2024.12 | 72 | — | 3.3 | 0.61 | — | — | |
| NavGPT22026.03 | 72 | — | 3.33 | 0.6 | 80 | — | |
| KESU2026.03 | 72 | — | 3.31 | 0.61 | — | — | |
| CONSOLE2026.03 | 72 | — | 3.3 | 0.61 | — | — | |
| TSOR2026.03 | 72 | — | 3.27 | 0.62 | — | — | |
| NavGPT-2 (FlanT5-5B)Backbone=FlanT5-5B2025.08 | 72 | — | 3.33 | 0.6 | 80 | — | |
| Auxiliary TasksInference=Beam search2020.04 | 71 | 41 | 3.24 | 0.21 | 81 | — | |
| Meta-ExploreMemory=Top. Map, Exploit=local goal2023.03 | 71 | — | 3.57 | 0.61 | — | 14.25 | |
| AuxRN2021.08 | 71 | 41 | 3.24 | 0.21 | 81 | — | |
| ACME2024.12 | 70.4 | — | 3.68 | 0.612 | — | — | |
| KERM2026.03 | 70 | — | 3.61 | 0.59 | — | — | |
| ViTeC2026.03 | 70 | — | 3.31 | 0.6 | — | — | |
| KERM2023.03 | 69.73 | — | 3.61 | 0.5925 | — | 14.6 | |
| KERM2024.12 | 69.7 | — | 3.6 | 0.592 | — | — | |
| DUETreproduced=true2023.03 | 69.25 | — | 3.65 | 0.5868 | — | 14.74 | |
| Environmental DropoutInference=Beam search2020.04 | 69 | 687 | 3.26 | 0.01 | 99 | — | |
| DUETMemory=Top. Map, Exploit=X2023.03 | 69 | — | 3.65 | 0.59 | — | 14.73 | |
| DUET2023.03 | 69 | — | 3.65 | 0.59 | — | 14.73 | |
| DUET2024.04 | 69 | — | 3.65 | 0.59 | 76 | — | |
| AZHP2024.12 | 69 | — | 3.4 | 0.59 | — | — | |
| FDA2024.12 | 69 | — | 3.41 | 0.62 | — | — | |
| DUET2024.12 | 69 | — | 3.65 | 0.59 | — | — | |
| EnvDrop2021.08 | 69 | 687 | 3.26 | 0.01 | 99 | — | |
| DUET2026.03 | 69 | — | 3.65 | 0.59 | 76 | — | |
| DUET2025.08 | 69 | — | 3.65 | 0.59 | 76 | — | |
| EnvEdit2024.04 | 68 | — | 3.59 | 0.64 | — | — | |
| NaviLLM (Vicuna-7B)Backbone=Vicuna-7B2025.08 | 68 | — | 3.71 | 0.6 | — | — | |
| TD-STP2024.04 | 67 | — | 3.73 | 0.61 | 72 | — | |
| GELA2024.04 | 67 | — | 3.59 | 0.62 | — | — | |
| TD-STP2026.03 | 67 | — | 3.73 | 0.61 | 72 | — | |
| HOP+2026.03 | 66 | — | 3.71 | 0.6 | — | — | |
| Esceme2026.03 | 66 | — | 3.77 | 0.63 | — | — | |
| VLNBERT+REMPre-training=true2022.04 | 65 | — | 3.87 | 0.59 | — | 13.11 | |
| HAMT-e2eMemory=Seq, Exploit=X2023.03 | 65 | — | 3.93 | 0.6 | — | 12.27 | |
| HAMT2023.03 | 65 | — | 3.93 | 0.6 | — | 12.27 | |
| HAMT2024.04 | 65 | — | 3.93 | 0.6 | 72 | — | |
| GeoVLN2024.04 | 65 | — | 3.95 | 0.61 | — | — | |
| HAMT2026.03 | 65 | — | 3.93 | 0.6 | 72 | — | |
| HAMT2025.08 | 65 | — | 3.93 | 0.6 | 72 | — | |
| HOP (1)Pre-training=PREVALENT data2022.03 | 64 | — | 3.87 | 0.58 | — | 13.29 | |
| HOP (2)Pre-training=PREVALENT + BnB data2022.03 | 64 | — | 3.83 | 0.59 | — | 12.68 | |
| HOP2023.03 | 64 | — | 3.83 | 0.59 | — | 12.68 | |
| VLN-PETLUpdated Params(%)=2.822023.08 | 63.22 | — | 4.1 | 0.5825 | — | 12.3 | |
| Fine-TuningUpdated Params(%)=1002023.08 | 63.2 | — | 4.09 | 0.5855 | — | 12.2 | |
| Reinforced Cross-Modal MatchingInference=Beam search2020.04 | 63 | 358 | 4.03 | 0.02 | 96 | — | |
| RecBERTPre-training=Existing2022.03 | 63 | — | 4.09 | 0.57 | — | 12.35 | |
| VLNBERTInitialization=PREVALENT, Pre-training=true2022.04 | 63 | — | 4.09 | 0.57 | — | 12.35 | |
| VLNBERTMemory=Rec, Exploit=X2023.03 | 63 | — | 4.09 | 0.57 | — | 12.35 | |
| VLNBERT2023.03 | 63 | — | 4.09 | 0.57 | — | 12.35 | |
| Reinforced CM2021.08 | 63 | 358 | 4.03 | 0.02 | 96 | — | |
| LSAL2026.03 | 63 | — | 4 | 0.58 | — | — | |
| AirBERTPre-training=Existing2022.03 | 62 | — | 4.13 | 0.57 | — | 12.41 | |
| NvEM+SEvolData Augmentation=true2022.04 | 62 | — | 4.13 | 0.57 | — | 13.4 | |
| AirBERT2023.03 | 62 | — | 4.13 | 0.67 | — | 12.41 | |
| LORAUpdated Params(%)=3.022023.08 | 61.44 | — | 4.15 | 0.5596 | — | 12.99 | |
| Tactical RewindInference=Beam search2020.04 | 61 | 197 | 4.29 | 0.03 | 90 | — | |
| Self-MonitoringInference=Beam search2020.04 | 61 | 373 | 4.48 | 0.02 | 97 | — | |
| SSMData Augmentation=true2022.04 | 61 | — | 4.57 | 0.46 | — | 20.4 | |
| SMNAMemory=Rec, Exploit=homing2023.03 | 61 | — | 4.48 | 0.56 | — | — | |
| FASTMemory=Rec, Exploit=homing, variant=long2023.03 | 61 | — | 4.29 | 0.63 | — | 196.53 | |
| SSMMemory=Top. Map, Exploit=jump2023.03 | 61 | — | 4.57 | 0.46 | — | 20.4 | |
| Self-Monitoring2021.08 | 61 | 373 | 4.48 | 0.02 | 97 | — | |
| AdapterUpdated Params(%)=3.082023.08 | 60.69 | — | 4.27 | 0.5588 | — | 13.19 | |
| ActiveVLNPre-training=None2022.03 | 60 | — | 4.33 | 0.41 | — | 21.6 | |
| NvEM+SEvolData Augmentation=false2022.04 | 60 | — | 4.25 | 0.55 | — | 13.1 | |
| EnvDrop+SEvolData Augmentation=true2022.04 | 59 | — | 3.7 | 0.55 | — | 14.3 | |
| PREVALENT2021.08 | 59 | 10.21 | 4.52 | 0.56 | 64 | — | |
| NvEMPre-training=None2022.03 | 58 | — | 4.37 | 0.54 | — | 12.98 | |
| NvEMData Augmentation=true2022.04 | 58 | — | 4.37 | 0.54 | — | 12.98 | |
| BitFitUpdated Params(%)=0.462023.08 | 57.15 | — | 4.63 | 0.5303 | — | 12.96 | |
| VLNBERTInitialization=OSCAR, Pre-training=true2022.04 | 57 | — | 4.59 | 0.53 | — | 12.34 | |
| ORISTInitialization=UNITER, Pre-training=true2022.04 | 57 | — | 5.1 | 0.52 | — | 11.31 | |
| SSMData Augmentation=false2022.04 | 57 | — | 4.66 | 0.44 | — | 18.5 | |
| EnvDrop+SEvolData Augmentation=false2022.04 | 57 | — | 4.52 | 0.52 | — | 15.48 | |
| Active PerceptionData Augmentation=false2022.04 | 56 | — | 4.77 | 0.37 | — | 21 | |
| EntityGraphPre-training=None2022.03 | 55 | — | 4.75 | 0.52 | — | 10.29 | |
| HOP (0)Pre-training=None2022.03 | 55 | — | 4.93 | 0.5 | — | 12.53 | |
| AuxRNData Augmentation=true2022.04 | 55 | — | 5.15 | 0.51 | — | — | |
| RelGraphData Augmentation=true2022.04 | 55 | — | 4.75 | 0.52 | — | 10.29 |