Vision-Language Navigation on VLN-CE R2R (val unseen)
3.5Navigation Error (NE)GN-BAE
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| GN-BAES.RGB=true2026.06 | 3.5 | 75.6 | 67.7 | 63.4 | |
| Qwen-RobotNav-8BObservation setting=Panoramic2026.06 | 3.53 | 78.5 | 72.1 | 66.6 | |
| Uni-LaViRATraining Protocol=Zero-Shot (Training-Free)2026.05 | 3.66 | 73.7 | 60.7 | 47.7 | |
| OmniNavTraining Protocol=Supervised Learning (Training Method)2026.05 | 3.74 | 74.6 | 69.5 | 66.1 | |
| OmniNavObservation setting=Panoramic2026.06 | 3.74 | 74.6 | 69.5 | 66.1 | |
| ABot-N0Training Protocol=Supervised Learning (Training Method)2026.05 | 3.78 | 70.8 | 66.4 | 63.9 | |
| ABot-N0Observation setting=Panoramic2026.06 | 3.78 | 70.8 | 66.4 | 63.9 | |
| Qwen-RobotNav-4BObservation setting=Panoramic2026.06 | 3.8 | 77.2 | 69.5 | 63.6 | |
| AstraNav-WorldObservation setting=Panoramic2026.06 | 3.86 | 73.9 | 67.9 | 65.4 | |
| DualVLNS.RGB=true2026.06 | 4.05 | 70.7 | 64.3 | 58.5 | |
| DualVLNObservation setting=Monocular2026.06 | 4.05 | 70.7 | 64.3 | 58.5 | |
| SPAN-NavTraining Protocol=Supervised Learning (Training Method)2026.05 | 4.07 | 75.3 | 66.3 | 59.3 | |
| Qwen-RobotNav-4BObservation setting=Monocular2026.06 | 4.22 | 73.6 | 66.9 | 60.5 | |
| CorrectNavS.RGB=true2026.06 | 4.24 | 67.5 | 65.1 | 62.3 | |
| Qwen-RobotNav-8BObservation setting=Monocular2026.06 | 4.36 | 72.7 | 65.7 | 59.6 | |
| NavFoMObservation setting=Panoramic2026.06 | 4.61 | 72.1 | 61.7 | 55.3 | |
| ETPNav*Pano.=true, Odo.=true, Depth=true, waypoint predictor=true2026.03 | 4.71 | 65 | 57 | 49 | |
| ETPNavPano.=true, Odo.=true, Depth=true, Waypoint predictor=Hong et al. (2022)2026.06 | 4.71 | 65 | 57 | 49 | |
| JanusVLNTraining Protocol=Supervised Learning (Training Method)2026.05 | 4.78 | 65.2 | 60.5 | 56.8 | |
| ScaleVLN*Pano.=true, Odo.=true, Depth=true, waypoint predictor=true2026.03 | 4.8 | — | 55 | 51 | |
| ScaleVLNPano.=true, Odo.=true, Depth=true, Waypoint predictor=Hong et al. (2022)2026.06 | 4.8 | — | 55 | 51 | |
| InternVLA-N1†Depth=true, S.RGB=true, additional training data=true2026.03 | 4.83 | 63.3 | 58.2 | 54 | |
| InternVLA-N1Training Protocol=Supervised Learning (Training Method)2026.05 | 4.83 | 63.3 | 58.2 | 54 | |
| InternVLA-N1Observation setting=Monocular2026.06 | 4.83 | 63.3 | 58.2 | 54 | |
| MapNavS.RGB=true2026.03 | 4.93 | 53 | 39.7 | 37.2 | |
| MapNavS.RGB=true2026.06 | 4.93 | 53 | 39.7 | 37.2 | |
| StreamVLNTraining Protocol=Supervised Learning (Training Method)2026.05 | 4.98 | 64.2 | 56.9 | 51.9 | |
| StreamVLNS.RGB=true2026.06 | 4.98 | 64.2 | 56.9 | 51.9 | |
| StreamVLNObservation setting=Monocular2026.06 | 4.98 | 64.2 | 56.9 | 51.9 | |
| NavFoMTraining Protocol=Supervised Learning (Training Method)2026.05 | 5.01 | 64.9 | 56.2 | 51.2 | |
| GridMM*Pano.=true, Odo.=true, Depth=true, waypoint predictor=true2026.03 | 5.11 | 61 | 49 | 41 | |
| SOL-NavDepth=true, S.RGB=true2026.03 | 5.11 | 72.9 | 53.6 | 49.2 | |
| GridMMPano.=true, Odo.=true, Depth=true, Waypoint predictor=Hong et al. (2022)2026.06 | 5.11 | 61 | 49 | 41 | |
| NaVILA†S.RGB=true, additional training data=true2026.03 | 5.22 | 62.5 | 54 | 49 | |
| NaVILATraining Protocol=Supervised Learning (Training Method)2026.05 | 5.22 | 62.5 | 54 | 49 | |
| NaVILAS.RGB=true2026.06 | 5.22 | 62.5 | 54 | 49 | |
| NaVILAObservation setting=Monocular2026.06 | 5.22 | 62.5 | 54 | 49 | |
| NaVILAS.RGB=true2026.03 | 5.37 | 57.6 | 49.7 | 45.5 | |
| NaVidS.RGB=true2026.03 | 5.47 | 49.1 | 37.4 | 35.9 | |
| NaVidTraining Protocol=Supervised Learning (Training Method)2026.05 | 5.47 | 49.1 | 37.4 | 35.9 | |
| NaVidS.RGB=true2026.06 | 5.47 | 49.1 | 37.4 | 35.9 | |
| UniNaVid†S.RGB=true, additional training data=true2026.03 | 5.58 | 53.3 | 47 | 42.7 | |
| Uni-NaVidTraining Protocol=Supervised Learning (Training Method)2026.05 | 5.58 | 53.3 | 47 | 42.7 | |
| UniNaVidS.RGB=true2026.06 | 5.58 | 53.3 | 47 | 42.7 | |
| Uni-NaVidObservation setting=Monocular2026.06 | 5.58 | 53.3 | 47 | 42.7 | |
| NaVidObservation setting=Monocular2026.06 | 5.72 | 49.2 | 41.9 | 36.5 | |
| Three-Step NavTraining Protocol=Zero-Shot (Training-Free)2026.05 | 5.87 | 39 | 34 | 29.1 | |
| ETPNav + FFOdo.=true, Depth=true, S.RGB=true2026.03 | 5.95 | 55.8 | 44.9 | 30.4 | |
| ETPNav + FFOdo.=true, Depth=true, S.RGB=true2026.06 | 5.95 | 55.8 | 44.9 | 30.4 | |
| Sim2Sim*Pano.=true, Odo.=true, Depth=true, waypoint predictor=true2026.03 | 6.07 | 52 | 43 | 36 | |
| CMA*Pano.=true, Odo.=true, Depth=true, waypoint predictor=true2026.03 | 6.2 | 52 | 41 | 36 | |
| CMAPano.=true, Odo.=true, Depth=true, Waypoint predictor=Hong et al. (2022)2026.06 | 6.2 | 52 | 41 | 36 | |
| WS-MGMapOdo.=true, Depth=true, S.RGB=true2026.03 | 6.28 | 47.6 | 38.9 | 34.3 | |
| WS-MGMapOdo.=true, Depth=true, S.RGB=true2026.06 | 6.28 | 47.6 | 38.9 | 34.3 | |
| HPN+DN*Pano.=true, Odo.=true, Depth=true, waypoint predictor=true2026.03 | 6.31 | 40 | 36 | 34 | |
| HPN+DNPano.=true, Odo.=true, Depth=true, Waypoint predictor=Hong et al. (2022)2026.06 | 6.31 | 40 | 36 | 34 | |
| LaViRATraining Protocol=Zero-Shot (Training-Free)2026.05 | 6.54 | 48.7 | 38.3 | 28.3 | |
| HiMemVLNTraining Protocol=Zero-Shot (Training-Free)2026.05 | 6.65 | 36 | 30 | 26.9 | |
| Open-NavTraining Protocol=Zero-Shot (Training-Free)2026.05 | 6.7 | 23 | 19 | 16.1 | |
| LAWOdo.=true, Depth=true, S.RGB=true2026.03 | 6.83 | 44 | 35 | 31 | |
| LAWOdo.=true, Depth=true, S.RGB=true2026.06 | 6.83 | 44 | 35 | 31 | |
| InstructNavPano.=true, Odo.=true, Depth=true, S.RGB=true2026.03 | 6.89 | — | 31 | 24 | |
| InstructNavTraining Protocol=Zero-Shot (Training-Free)2026.05 | 6.89 | 47 | 31 | 24 | |
| InstructNavPano.=true, Odo.=true, Depth=true, S.RGB=true2026.06 | 6.89 | — | 31 | 24 | |
| SmartWayTraining Protocol=Zero-Shot (Training-Free)2026.05 | 7.01 | 51 | 29 | 22.5 | |
| CM2Odo.=true, Depth=true, S.RGB=true2026.03 | 7.02 | 41.5 | 34.3 | 27.6 | |
| CM2Odo.=true, Depth=true2026.06 | 7.02 | 41.5 | 34.3 | 27.6 | |
| GC-VLNTraining Protocol=Zero-Shot (Training-Free)2026.05 | 7.3 | 41.8 | 33.6 | 16.3 | |
| CMADepth=true, S.RGB=true2026.03 | 7.37 | 40 | 32 | 30 | |
| CMADepth=true, S.RGB=true2026.06 | 7.37 | 40 | 32 | 30 | |
| CA-NavTraining Protocol=Zero-Shot (Training-Free)2026.05 | 7.58 | 48 | 25.3 | 10.8 | |
| Seq2SeqDepth=true, S.RGB=true2026.03 | 7.77 | 37 | 25 | 22 | |
| Seq2SeqDepth=true, S.RGB=true2026.06 | 7.77 | 37 | 25 | 22 | |
| AG-CMTPPano.=true, Odo.=true, Depth=true2026.03 | 7.9 | 39.2 | 23.1 | 19.1 | |
| R2R-CMTPPano.=true, Odo.=true, Depth=true2026.03 | 7.9 | 38 | 26.4 | 22.7 | |
| R2R-CMTPPano.=true, Odo.=true, Depth=true2026.06 | 7.9 | 38 | 26.4 | 22.7 |