NaVILA for SatNav — Base initialization
This checkpoint is designed for use with SatNav, the continuous-state vision-and-language navigation platform for satellite maps. The SatNav NaVILA integration uses it to predict compact actions from a language instruction and eight RGB observations.
Model
- Starting checkpoint:
a8cheng/navila-siglip-llama3-8b-v1.5-pretrain - Training data: SatNav-v0.1 offline trajectories
- Training: 1 epoch, full-parameter fine-tuning
- Action format:
stop,forward,left, andright
Repository name
navila-satnav: NaVILA adapted to SatNavscratch: base initialization from the NaVILA pretraining checkpoint, before navigation SFT1ep: trained for one epoch8f: uses eight visual frames per samplesample: the following fields describe trajectory-step samplinghk7: keeps the first seven action stepsfs7: keeps every seventh step in a consecutiveforwardrun after the head; turning steps are keptstopx4: repeats each terminalstopsample four times
Reference Results
Results reported in the SatNav paper, baseline comparison, row NaVILA.
SR, SPL, and OS are percentages. NE is measured in meters. Steps is the average number of executed environment actions, including turns and stop.
| Split | SR (%) | SPL (%) | OS (%) | NE (m) | Steps |
|---|---|---|---|---|---|
Test Seen (val_seen) | 18.1 | 18.0 | 27.6 | 93.05 | 48.08 |
Test Unseen (val_unseen) | 13.0 | 12.7 | 23.7 | 128.88 | 53.71 |
Usage
Use this checkpoint with the SatNav NaVILA integration. It is also listed in the SatNav Baseline Model Zoo.
License
The checkpoint contains a Llama 3 backbone and is released under the applicable Llama 3 terms. NaVILA, SatNav, and other components retain their own licenses.