VLN-CE Experiments

We evaluate GN-BAE on the standard R2R-CE benchmark using the Validation Unseen split. As shown in table below, GN-BAE achieves the best overall performance, reaching 3.50 NE, 75.6 OS, 67.7 SR, and 63.4 SPL using only single-view RGB input. Compared with the strongest prior RGB-only baseline, GN-BAE reduces NE by 17.5%(from 4.24 to 3.50m) while improving SR and SPL by 2.6 and 1.1 points, respectively, indicating better goal localization and trajectory efficiency.