Vision-Language Navigation on REVERIE-AIM (val-unseen)
50.4ONS@0.1mHuman Eval
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Human Eval2026.07 | 50.4 | 74.71 | 38.24 | 80.38 | — | — | — | — | — | |
| REALM (Full)Backbone=ETPNav-FT2026.07 | 17.19 | 25.89 | 8.48 | 20.24 | 13.86 | 6.71 | 40.63 | 34.67 | 27.68 | |
| REALM w/o VSPBackbone=ETPNav-FT2026.07 | 16.82 | 25 | 8.04 | 19.79 | 13.86 | 6.71 | 40.63 | 34.67 | 27.68 | |
| REALM (Full)Backbone=UniNaVid-ZS2026.07 | 14.96 | 20.68 | 6.85 | 16.37 | 16.07 | 8.69 | 34.4 | 25.1 | 17.4 | |
| REALM (Full)Backbone=ETPNav-ZS2026.07 | 14.66 | 21.13 | 6.1 | 16.52 | 11.85 | 7.26 | 35.86 | 28.94 | 23.39 | |
| REALM (Full)Backbone=Smartway2026.07 | 13.99 | 19.72 | 5.65 | 15.92 | 20 | 8.79 | 25.37 | 8.21 | 4.81 | |
| no moveBackbone=UniNaVid-ZS2026.07 | 13.61 | 18.08 | 5.65 | 12.2 | 16.07 | 8.69 | 34.4 | 25.1 | 17.4 | |
| REALM w/o VSPBackbone=ETPNav-ZS2026.07 | 13.47 | 20.24 | 5.28 | 15.55 | 11.85 | 7.26 | 35.86 | 28.94 | 23.39 | |
| Vanilla UniNaVidBackbone=ETPNav-FT2026.07 | 13.39 | 19.12 | 4.91 | 12.57 | 13.86 | 6.71 | 40.63 | 34.67 | 27.68 | |
| REALM w/o VSPBackbone=Smartway2026.07 | 12.95 | 17.49 | 4.69 | 14.66 | 20 | 8.79 | 25.37 | 8.21 | 4.81 | |
| REALM w/o VSPBackbone=UniNaVid-ZS2026.07 | 12.43 | 18.38 | 5.95 | 14.29 | 16.07 | 8.69 | 34.4 | 25.1 | 17.4 | |
| Heuristic CLIP-SearchBackbone=UniNaVid-ZS2026.07 | 12.35 | 18.15 | 5.13 | 10.42 | 16.07 | 8.69 | 34.4 | 25.1 | 17.4 | |
| Vanilla UniNaVidBackbone=ETPNav-ZS2026.07 | 11.16 | 17.78 | 4.54 | 11.9 | 11.85 | 7.26 | 35.86 | 28.94 | 23.39 | |
| Vanilla UniNaVidBackbone=UniNaVid-ZS2026.07 | 10.42 | 16.07 | 4.84 | 11.01 | 16.07 | 8.69 | 34.4 | 25.1 | 17.4 | |
| Random WalkBackbone=UniNaVid-ZS2026.07 | 9.75 | 16.89 | 2.83 | 8.78 | 16.07 | 8.69 | 34.4 | 25.1 | 17.4 | |
| Vanilla UniNaVidBackbone=Smartway2026.07 | 9.3 | 14.81 | 3.5 | 9.45 | 20 | 8.79 | 25.37 | 8.21 | 4.81 | |
| no moveBackbone=Smartway2026.07 | 7.81 | 11.83 | 1.49 | 4.69 | 20 | 8.79 | 25.37 | 8.21 | 4.81 | |
| Heuristic CLIP-SearchBackbone=ETPNav-ZS2026.07 | 7.51 | 12.57 | 4.02 | 10.19 | 11.85 | 7.26 | 35.86 | 28.94 | 23.39 | |
| Heuristic CLIP-SearchBackbone=Smartway2026.07 | 7.22 | 11.98 | 2.9 | 8.04 | 20 | 8.79 | 25.37 | 8.21 | 4.81 | |
| no moveBackbone=ETPNav-ZS2026.07 | 7.07 | 11.98 | 3.05 | 6.99 | 11.85 | 7.26 | 35.86 | 28.94 | 23.39 | |
| Heuristic CLIP-SearchBackbone=ETPNav-FT2026.07 | 6.77 | 13.24 | 5.88 | 12.05 | 13.86 | 6.71 | 40.63 | 34.67 | 27.68 | |
| no moveBackbone=ETPNav-FT2026.07 | 6.32 | 12.2 | 4.46 | 11.31 | 13.86 | 6.71 | 40.63 | 34.67 | 27.68 | |
| Random WalkBackbone=ETPNav-FT2026.07 | 5.65 | 12.95 | 2.75 | 8.78 | 13.86 | 6.71 | 40.63 | 34.67 | 27.68 | |
| Random WalkBackbone=ETPNav-ZS2026.07 | 5.21 | 10.42 | 1.93 | 4.61 | 11.85 | 7.26 | 35.86 | 28.94 | 23.39 | |
| Random WalkBackbone=Smartway2026.07 | 5.21 | 10.42 | 1.34 | 4.61 | 20 | 8.79 | 25.37 | 8.21 | 4.81 |