Visual Localization on Simulation dataset
0.2Median Translation Error (cm)Joint
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| JointScene=Living2026.04 | 0.2 | 0.1 | 100 | — | — | |
| Fine-tuneScene=Living2026.04 | 0.3 | 0.1 | 100 | — | — | |
| SARSScene=Living2026.04 | 0.3 | 0.1 | 99.6 | — | — | |
| iCaRLScene=Living2026.04 | 0.4 | 0.1 | 99.6 | — | — | |
| GECScene=Living2026.04 | 0.4 | 0.1 | 96.3 | — | — | |
| GDRScene=Living2026.04 | 0.4 | 0.1 | 100 | — | — | |
| SARSScene=Kitchen2026.04 | 0.4 | 0.1 | 99.4 | — | — | |
| JointScene=Kitchen2026.04 | 0.5 | 0.1 | 99.8 | — | — | |
| GECScene=Bedroom2026.04 | 0.5 | 0.1 | 91.7 | — | — | |
| JointScene=Bedroom2026.04 | 0.6 | 0.2 | 97.3 | — | — | |
| GECScene=Kitchen2026.04 | 0.6 | 0.1 | 94.7 | — | — | |
| GDRScene=Kitchen2026.04 | 0.6 | 0.1 | 94.7 | — | — | |
| SARSScene=Bedroom2026.04 | 0.6 | 0.1 | 96.2 | — | — | |
| iCaRLScene=Kitchen2026.04 | 0.7 | 0.2 | 68.8 | — | — | |
| GDRScene=Bedroom2026.04 | 0.7 | 0.2 | 91.2 | — | — | |
| iCaRLScene=Bedroom2026.04 | 1.1 | 0.2 | 40.2 | — | — | |
| Fine-tuneScene=Bedroom2026.04 | 479.9 | 111.3 | 0 | — | — | |
| Fine-tuneScene=Kitchen2026.04 | 774.6 | 109.8 | 0 | — | — | |
| Fine-tuneScene=Overall2026.04 | — | — | — | 33.3 | — | |
| GDRScene=Overall2026.04 | — | — | — | 95.3 | 6.5 | |
| GECScene=Overall2026.04 | — | — | — | 94.2 | 5.1 | |
| iCaRLScene=Overall2026.04 | — | — | — | 69.5 | 44.9 | |
| JointScene=Overall2026.04 | — | — | — | 99 | — | |
| SARSScene=Overall2026.04 | — | — | — | 98.4 | 1.6 |