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add benchmarks

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  1. README.md +176 -0
README.md ADDED
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+ **VLN-PE Benchmark**
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+ <style type="text/css">
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+ .tg {border-collapse:collapse;border-spacing:0;}
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+ .tg td{border-color:black;border-style:solid;border-width:1px;font-family:Arial, sans-serif;font-size:14px;
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+ overflow:hidden;padding:10px 5px;word-break:normal;}
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+ .tg th{border-color:black;border-style:solid;border-width:1px;font-family:Arial, sans-serif;font-size:14px;
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+ font-weight:normal;overflow:hidden;padding:10px 5px;word-break:normal;}
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+ .tg .tg-c3ow{border-color:inherit;text-align:center;vertical-align:top}
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+ .tg .tg-0pky{border-color:inherit;text-align:left;vertical-align:top}
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+ .tg .tg-fymr{border-color:inherit;font-weight:bold;text-align:left;vertical-align:top}
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+ </style>
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+ <table class="tg"><thead>
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+ <tr>
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+ <th class="tg-c3ow" rowspan="2"><span style="font-weight:bold">Model</span></th>
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+ <th class="tg-0pky" rowspan="2"><span style="font-weight:bold">Dataset/Benchmark</span></th>
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+ <th class="tg-c3ow" colspan="7"><span style="font-weight:bold">Val Seen</span></th>
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+ <th class="tg-c3ow" colspan="7"><span style="font-weight:bold">Val Unseen</span></th>
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+ <th class="tg-fymr" rowspan="2">Download</th>
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+ </tr>
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+ <tr>
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+ <th class="tg-fymr">TL</th>
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+ <th class="tg-fymr">NE</th>
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+ <th class="tg-fymr">FR</th>
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+ <th class="tg-fymr">StR</th>
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+ <th class="tg-fymr">OS</th>
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+ <th class="tg-fymr">SR</th>
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+ <th class="tg-fymr">SPL</th>
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+ <th class="tg-fymr">TL</th>
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+ <th class="tg-fymr">NE</th>
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+ <th class="tg-fymr">FR</th>
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+ <th class="tg-fymr">StR</th>
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+ <th class="tg-fymr">OS</th>
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+ <th class="tg-fymr">SR</th>
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+ <th class="tg-fymr">SPL</th>
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+ </tr></thead>
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+ <tbody>
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+ <tr>
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+ <td class="tg-c3ow" colspan="17">Zero-shot transfer evaluation from VLN-CE</td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">Seq2Seq-Full</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">8.29</td>
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+ <td class="tg-0pky">7.59</td>
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+ <td class="tg-0pky">19.15</td>
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+ <td class="tg-0pky">3.04</td>
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+ <td class="tg-0pky">17.63</td>
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+ <td class="tg-0pky">13.83</td>
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+ <td class="tg-0pky">11.17</td>
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+ <td class="tg-0pky">8.28</td>
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+ <td class="tg-0pky">6.99</td>
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+ <td class="tg-0pky">13.88</td>
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+ <td class="tg-0pky">3.79</td>
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+ <td class="tg-0pky">21.83</td>
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+ <td class="tg-0pky">15.00</td>
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+ <td class="tg-0pky">11.99</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/zero_shot/seq2seq" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">CMA-Full</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">6.51</td>
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+ <td class="tg-0pky">7.28</td>
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+ <td class="tg-0pky">17.93</td>
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+ <td class="tg-0pky">6.23</td>
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+ <td class="tg-0pky">18.09</td>
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+ <td class="tg-0pky">15.50</td>
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+ <td class="tg-0pky">14.00</td>
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+ <td class="tg-0pky">6.55</td>
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+ <td class="tg-0pky">7.02</td>
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+ <td class="tg-0pky">15.07</td>
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+ <td class="tg-0pky">4.31</td>
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+ <td class="tg-0pky">19.82</td>
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+ <td class="tg-0pky">16.04</td>
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+ <td class="tg-0pky">14.63</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/zero_shot/cma" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ <tr>
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+ <td class="tg-c3ow" colspan="17">Train on VLN-PE</td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">Seq2Seq</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">9.89</td>
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+ <td class="tg-0pky">7.73</td>
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+ <td class="tg-0pky">22.19</td>
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+ <td class="tg-0pky">3.04</td>
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+ <td class="tg-0pky">30.55</td>
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+ <td class="tg-0pky">19.60</td>
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+ <td class="tg-0pky">15.67</td>
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+ <td class="tg-0pky">9.51</td>
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+ <td class="tg-0pky">7.91</td>
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+ <td class="tg-0pky">19.67</td>
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+ <td class="tg-0pky">3.71</td>
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+ <td class="tg-0pky">27.62</td>
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+ <td class="tg-0pky">15.89</td>
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+ <td class="tg-0pky">12.58</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/fine_tuned/seq2seq" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">CMA</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">10.23</td>
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+ <td class="tg-0pky">7.32</td>
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+ <td class="tg-0pky">23.40</td>
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+ <td class="tg-0pky">2.43</td>
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+ <td class="tg-0pky">31.04</td>
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+ <td class="tg-0pky">21.12</td>
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+ <td class="tg-0pky">16.15</td>
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+ <td class="tg-0pky">10.09</td>
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+ <td class="tg-0pky">7.43</td>
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+ <td class="tg-0pky">18.63</td>
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+ <td class="tg-0pky">3.12</td>
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+ <td class="tg-0pky">31.33</td>
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+ <td class="tg-0pky">18.78</td>
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+ <td class="tg-0pky">14.56</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/fine_tuned/cma" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">RDP</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">12.00</td>
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+ <td class="tg-0pky">7.10</td>
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+ <td class="tg-0pky">22.95</td>
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+ <td class="tg-0pky">3.95</td>
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+ <td class="tg-0pky">33.43</td>
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+ <td class="tg-0pky">23.86</td>
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+ <td class="tg-0pky">17.35</td>
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+ <td class="tg-0pky">11.76</td>
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+ <td class="tg-0pky">6.97</td>
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+ <td class="tg-0pky">18.75</td>
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+ <td class="tg-0pky">4.58</td>
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+ <td class="tg-0pky">34.06</td>
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+ <td class="tg-0pky">21.98</td>
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+ <td class="tg-0pky">16.44</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/fine_tuned/rdp" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">Seq2Seq+</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">9.92</td>
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+ <td class="tg-0pky">7.54</td>
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+ <td class="tg-0pky">26.11</td>
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+ <td class="tg-0pky">5.59</td>
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+ <td class="tg-0pky">31.93</td>
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+ <td class="tg-0pky">19.58</td>
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+ <td class="tg-0pky">15.13</td>
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+ <td class="tg-0pky">10.21</td>
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+ <td class="tg-0pky">7.64</td>
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+ <td class="tg-0pky">21.82</td>
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+ <td class="tg-0pky">5.12</td>
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+ <td class="tg-0pky">30.47</td>
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+ <td class="tg-0pky">18.13</td>
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+ <td class="tg-0pky">14.06</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/fine_tuned/seq2seq_plus" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ <tr>
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+ <td class="tg-0pky">CMA+</td>
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+ <td class="tg-0pky">R2R VLN-PE</td>
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+ <td class="tg-0pky">9.09</td>
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+ <td class="tg-0pky">6.68</td>
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+ <td class="tg-0pky">20.21</td>
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+ <td class="tg-0pky">2.74</td>
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+ <td class="tg-0pky">37.99</td>
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+ <td class="tg-0pky">28.72</td>
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+ <td class="tg-0pky">24.24</td>
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+ <td class="tg-0pky">8.61</td>
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+ <td class="tg-0pky">7.11</td>
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+ <td class="tg-0pky">18.63</td>
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+ <td class="tg-0pky">4.83</td>
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+ <td class="tg-0pky">31.55</td>
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+ <td class="tg-0pky">23.31</td>
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+ <td class="tg-0pky">19.66</td>
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+ <td class="tg-0pky"><a href="https://huggingface.co/InternRobotics/VLN-PE/tree/main/r2r/fine_tuned/cma_plus" target="_blank" rel="noopener noreferrer">model</a></td>
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+ </tr>
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+ </tbody></table>