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SCAND

Benchmarks

Task NameDataset NameSOTA ResultTrend
Goal Conditioned Visual NavigationSCAND
ATE1.065
18
Geometric Drift EvaluationSCAND
Endpoint Distance (ED)3.58
15
Perceptual DriftSCAND
LPIPS0.297
15
Visual FidelitySCAND
FID80.97
15
Trajectory PredictionSCAND
ATE1.14
12
Long-horizon predictionSCAND
LPIPS0.396
10
Trajectory PredictionSCAND T=8
L2 Error (m)0.923
10
Trajectory PredictionSCAND T=5
L2 Error (m)0.674
10
Action PredictionSCAND (test)
Action MSE0.47
8
Goal-Conditioned Visual NavigationSCAND (evaluation)
Success Rate (SR)68
8
Trajectory PredictionSCAND T=10
L2 Error (m)1.089
8
Social NavigationSCAND Out-of-Distribution (test)
ADE0.578
7
Social NavigationSCAND 4,902 frames (evaluation)
NC2,580
6
Video SynthesisSCAND
PSNR16.11
6
Visual NavigationSCAND
MSE0.48
5
PlanningSCAND
ATE2.3
4
Navigation PlanningScand (val)
ATE1.038
3
Action-Conditioned ConsistencySCAND 16s horizon
LPIPS0.495
3
Action-Conditioned ConsistencySCAND 8s horizon
LPIPS0.459
3
Action-Conditioned ConsistencySCAND 4s horizon
LPIPS0.421
3
Action-Conditioned ConsistencySCAND 2s horizon
LPIPS0.395
3
Action-Conditioned ConsistencySCAND 1s horizon
LPIPS0.368
3
Inference EfficiencySCAND
Average Rollout Time (s)2.3
3
Goal-Conditioned Visual NavigationSCAND 16s horizon
ATE18.38
2
Goal-Conditioned Visual NavigationSCAND 8s horizon
ATE11.33
2
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