{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/benchmarking-classic-and-learned-navigation","title":"Benchmarking Classic and Learned Navigation in Complex 3D Environments","arxiv_id":"1901.10915","date":"2019-01-30","proceeding":null,"authors":["Dmytro Mishkin","Alexey Dosovitskiy","Vladlen Koltun"],"abstract":"Navigation research is attracting renewed interest with the advent of\nlearning-based methods. However, this new line of work is largely disconnected\nfrom well-established classic navigation approaches. In this paper, we take a\nstep towards coordinating these two directions of research. We set up classic\nand learning-based navigation systems in common simulated environments and\nthoroughly evaluate them in indoor spaces of varying complexity, with access to\ndifferent sensory modalities. Additionally, we measure human performance in the\nsame environments. We find that a classic pipeline, when properly tuned, can\nperform very well in complex cluttered environments. On the other hand, learned\nsystems can operate more robustly with a limited sensor suite. Overall, both\napproaches are still far from human-level performance.","url_abs":"http://arxiv.org/abs/1901.10915v2","url_pdf":"http://arxiv.org/pdf/1901.10915v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"benchmarking-classic-and-learned-navigation","repo_url":"https://github.com/ducha-aiki/navigation-benchmark","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1901.10915","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1901.10915"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/ducha-aiki/navigation-benchmark","reach":null}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"90ed0627b5c33617","entry":"defaultAgentOptions","repo":"ducha-aiki/navigation-benchmark","repo_kind":"official","path":"navigation/ClassicAgents.py","file_url":"https://github.com/ducha-aiki/navigation-benchmark/blob/HEAD/navigation/ClassicAgents.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"90ed0627b5c33617"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}