[Fix] InternNav refactor #3
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yuqiang-yang
approved these changes
Dec 10, 2025
Tai-Wang
reviewed
Dec 10, 2025
| - **Navigation Error (NE)**: The Euclidean distance (in meters) between the agent’s final position and the goal location at the end of an episode. | ||
| - **Oracle Success Rate (OSR)**: The proportion of episodes in which any point along the predicted trajectory comes within 3 meters of the goal—representing the agent’s potential success if it were to stop optimally. | ||
| - **Fall Rate (FR)**: The frequency at which the agent falls or loses balance during navigation. | ||
| - **Stuck Rate (StR)**: The frequency at which the agent becomes immobile or trapped (e.g., blocked by obstacles or unable to proceed). |
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Can keep the introduction to metrics?
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Yes, explanations for metrics registered in vlnpe and vlnce are added.
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In this PR, corresponding eval scripts are updated to the refactor version.