{"id":"https://openalex.org/W7139961769","doi":"https://doi.org/10.48550/arxiv.2603.19229","title":"NavTrust: Benchmarking Trustworthiness for Embodied Navigation","display_name":"NavTrust: Benchmarking Trustworthiness for Embodied Navigation","publication_year":2026,"publication_date":"2026-03-19","ids":{"openalex":"https://openalex.org/W7139961769","doi":"https://doi.org/10.48550/arxiv.2603.19229"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.19229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.19229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.19229","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130244287","display_name":"Huaide Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jiang, Huaide","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130214440","display_name":"Yash Chaudhary","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chaudhary, Yash","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124741048","display_name":"Yuping Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yuping","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130240873","display_name":"Zehao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zehao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108784223","display_name":"Raghav Sharan Sharma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sharma, Raghav","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015940969","display_name":"Manan Mehta","orcid":"https://orcid.org/0000-0003-1388-1073"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mehta, Manan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130216333","display_name":"Yang Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130242105","display_name":"Lichao Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Lichao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130245948","display_name":"Zhiwen Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Zhiwen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130235177","display_name":"Zhengzhong Tu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tu, Zhengzhong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5130227669","display_name":"Jiachen Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiachen","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5130244287"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7836999893188477,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7836999893188477,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.10490000247955322,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.014499999582767487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7950000166893005},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7523999810218811},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.727400004863739},{"id":"https://openalex.org/keywords/trustworthiness","display_name":"Trustworthiness","score":0.6837999820709229},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5340999960899353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4560000002384186}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7950000166893005},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7523999810218811},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.751800000667572},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.727400004863739},{"id":"https://openalex.org/C153701036","wikidata":"https://www.wikidata.org/wiki/Q659974","display_name":"Trustworthiness","level":2,"score":0.6837999820709229},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5340999960899353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4560000002384186},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.444599986076355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40369999408721924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35530000925064087},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.26429998874664307},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.26019999384880066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.19229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.19229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.19229","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.19229","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.8178654313087463,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"There":[0],"are":[1],"two":[2],"major":[3],"categories":[4],"of":[5,108],"embodied":[6,91,131],"navigation:":[7],"Vision-Language":[8],"Navigation":[9,21],"(VLN),":[10],"where":[11,23],"agents":[12,24,93],"navigate":[13,25],"by":[14],"following":[15],"natural":[16],"language":[17],"instructions;":[18],"and":[19,68,73,98,124,147,155,165],"Object-Goal":[20],"(OGN),":[22],"to":[26,94,142,169],"a":[27,57,102,126,161],"specified":[28],"target":[29],"object.":[30],"However,":[31],"existing":[32],"work":[33],"primarily":[34],"evaluates":[35,74],"model":[36],"performance":[37,114],"under":[38,116],"nominal":[39],"conditions,":[40],"overlooking":[41],"the":[42,86],"potential":[43],"corruptions":[44,97],"that":[45,60,89],"arise":[46],"in":[47,70,101],"real-world":[48],"settings.":[49],"To":[50,80],"address":[51],"this":[52],"gap,":[53],"we":[54,135],"present":[55],"NavTrust,":[56],"unified":[58,103],"benchmark":[59,88],"systematically":[61,136],"corrupts":[62],"input":[63],"modalities,":[64],"including":[65],"RGB,":[66],"depth,":[67],"instructions,":[69],"realistic":[71,117],"scenarios":[72],"their":[75],"impact":[76],"on":[77,160],"navigation":[78,92,132],"performance.":[79],"our":[81],"best":[82],"knowledge,":[83],"NavTrust":[84],"is":[85],"first":[87],"exposes":[90],"diverse":[95],"RGB-Depth":[96,146],"instruction":[99],"variations":[100],"framework.":[104],"Our":[105,150],"extensive":[106],"evaluation":[107],"seven":[109],"state-of-the-art":[110],"approaches":[111],"reveals":[112],"substantial":[113],"degradation":[115],"corruptions,":[118],"which":[119],"highlights":[120],"critical":[121],"robustness":[122,144,168],"gaps":[123],"provides":[125],"roadmap":[127],"toward":[128],"more":[129],"trustworthy":[130],"systems.":[133],"Furthermore,":[134],"evaluate":[137],"four":[138],"distinct":[139],"mitigation":[140],"strategies":[141],"enhance":[143],"against":[145],"instructions":[148],"corruptions.":[149,170],"base":[151],"models":[152],"include":[153],"Uni-NaVid":[154],"ETPNav.":[156],"We":[157],"deployed":[158],"them":[159],"real":[162],"mobile":[163],"robot":[164],"observed":[166],"improved":[167],"The":[171],"project":[172],"website":[173],"is:":[174],"https://navtrust.github.io.":[175]},"counts_by_year":[],"updated_date":"2026-03-21T06:36:02.116451","created_date":"2026-03-21T00:00:00"}