SOTA Embodied Navigation benchmarks and papers with code

Benchmarks

Dataset Name	SOTA Method	Metric
LENL (test)		SR-F (S1)100	44	4mo ago
EB-Navigation	GPT-5	Average Score85	21	23d ago
GOAT-Bench unseen (val)	MetaNav	Success Rate (SR)71.4	21	1mo ago
R2R-CE	D3D-VLP	Navigation Error (NE)4.73	19	4mo ago
Navigation	GRPO w/ Mask	Base Score88	17	2mo ago
HSSD	Hierarchical 3D Scene Graph (Ours)	Success Rate69.9	15	24d ago
LENL 1.0 (test)	Uni-Walker	Success Rate (S1)67	13	4mo ago
GOAT-Bench	3D-Mem* (GPT-4o)	Success Rate (SR)69.1	8	2mo ago
MSNN	POMA-3D_spec	4-Direction Success Rate40.4	8	2mo ago
A-EQA	SAGE (Qwen3-4B)	Success Rate (SR)60.2	7	2mo ago
ObjectNav	NaviMaster	Success Rate (SR)33.2	6	4mo ago
LENL Generalization tasks S16-S18 (test)	Uni-Walker	Success Rate (S16)74	5	4mo ago
Room A (in-distribution)	Privileged PPO (Upper Bound)	Success Rate (SR)97.7	5	4mo ago
NavRAG-CE	D3D-VLP	Navigation Error (NE)7.57	5	4mo ago
Room B (out-of-distribution)	LCLA	SR80.5	4	4mo ago
HM3D	RoboCodeX	Success Rate40	4	4mo ago
Real-world Functional Building (FB) environments Hard	PM-Nav	Success Rate (SR)15	3	4mo ago
Real-world Functional Building (FB) environments Medium	PM-Nav	Success Rate (SR)55	3	4mo ago
Real-world Functional Building (FB) environments Easy	PM-Nav	Success Rate (SR)75	3	4mo ago
Aliengo (unseen scenes)	Dual-Heatmap framework	Success Rate47.9	2	2mo ago
Aliengo (seen scenes)	Dual-Heatmap framework	Success Rate (SR)52.3	2	2mo ago
H1 (unseen scenes)	Dual-Heatmap framework	Success Rate (SR)56.93	2	2mo ago
H1 (seen scenes)	Dual-Heatmap framework	Success Rate (SR)60.04	2	2mo ago
Jetbot (unseen scenes)	Dual-Heatmap framework	Success Rate (SR)65.17	2	2mo ago
Jetbot (seen scenes)	Dual-Heatmap framework	Success Rate (SR)70.12	2	2mo ago

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