code/embodied_navigation/README.md

Embodied Navigation VLM-Based Evaluation

Evaluates whether a generated image/video correctly performs an embodied-navigation task by asking Gemini-2.5-Pro to judge it against the initial scene and the destination reference. This folder provides the exact evaluation prompts; run them through any Gemini access path (Google AI Studio, Gemini API, Vertex AI, or your own client).

There are four tasks, each with a separate video and image evaluation prompt (8 prompts total), organized one subfolder per task:

Subfolder (task)	Description
panoramic_view_last-mile_navigation (task01)	Last-mile navigation in a 360° panoramic FPV scene
top-down_view_real-world_navigation (task02)	2D top-down multi-floor navigation
3D_real-world_navigation (task03)	3D dollhouse/cutaway real-world navigation
simultaneous_localization_and_generation (task04)	Split-screen: 3D navigation + synchronized 2D map

Each subfolder contains:

• video_evaluation_prompt.txt — used to evaluate generated videos
• image_evaluation_prompt.txt — used to evaluate generated images (the final navigation state)

Evaluation Protocol

For each generated output, send one user message to gemini-2.5-pro containing:

1. The matching evaluation prompt (text) — the video_ or image_ prompt from the task's subfolder
2. The initial scene reference — the starting panorama / top-down map / scene image
3. For object-goal levels, the location description text specifying the destination
4. The generated video or image to evaluate

The prompts are self-contained (criteria and output schema are inline) and contain no runtime placeholders — the references above are supplied as separate inputs.

Evaluation Criteria

The prompts score a set of binary metrics ("0"/"1"), returned as JSON. The exact set varies slightly by task, but generally covers:

Metric	Meaning
SUCCESS_SCORE(_3D)	Robot reaches and stops on/next to the specified destination by the end
ORACLE_SUCCESS_SCORE(_3D)	Trajectory ever passes through / pauses inside the correct destination region
OBJECT_SEMANTIC_SCORE	No collisions or clipping through walls/furniture
AGENT_CONSISTENCY_SCORE	Motion is temporally continuous (no teleporting, pose pops, size jumps)
SPATIAL_ALIGNMENT_SCORE	Heading / walking direction / elevation changes stay coherent
DESTINATION_INTEGRITY_SCORE	Destination in the output matches the reference (position, appearance, semantics) and is unchanged
SCENE_CHANGE_SCORE	The environment stays static aside from expected viewpoint changes
TRAJECTORY_ALIGNMENT_SCORE (task04)	The 2D-map trajectory matches the 3D navigation path

Refer to each prompt for the precise metric list and definitions for that task. The prompts instruct Gemini to be fail-safe (assign 0 when ambiguous) and to penalize physical violations even when the goal is reached.

Response Format

Each prompt instructs Gemini to return only a JSON object with a SCORES field (string "0"/"1" per metric) plus a brief reasoning field. Parse the JSON from the response.

Metrics

SUCCESS_SCORE(_3D) is the primary task-success metric. For a set of generations, report:

success_rate = (# of outputs with SUCCESS_SCORE = 1) / (total # of outputs)

ORACLE_SUCCESS_SCORE gives a more lenient upper bound; the remaining metrics are physical-plausibility / fidelity diagnostics.