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arXiv · 2610.18307

I2O2I-Nav: A Benchmark with a Modular Agent for Long-Horizon Indoor-to-Outdoor-to-Indoor Navigation

Zhengjie Shu·Wanyu Li·Di Xiao·Lingxin Jiang·Lai Jiang·Kaidi Hu·Xincheng Tang·Wenkang Hu·Haoran Wang·Jinchuan Zhang·Chang Chen·Wei Li·Jia Pan·Ruigang Yang
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Abstract

Service and delivery robots often need to complete long-horizon navigation missions spanning indoor and outdoor environments. Existing embodied navigation benchmarks primarily evaluate isolated stages or partial cross-domain journeys, providing limited support for assessing how heterogeneous navigation capabilities compose under continuous execution. We introduce I2O2I-Nav, a physics-enabled benchmark of 20 real-world composite scenes spanning over 115,000 square meters across multiple buildings and floors, with aligned 3DGS rendering and collision geometry. Its three-level evaluation progresses from independent primitives to two-stage compositions and complete four-stage I2O2I missions. Each stage starts from its predecessor's actual endpoint, while stage-conditional metrics track completion and localize failures along the mission. We further propose the MODULAR-Agent that coordinates frozen navigation policies through completion verification, stage handoffs, and bounded recovery. Evaluation across 1,374 episodes highlights the difficulty of continuous composition. The MODULAR-Agent achieves 40.5-76% success on individual primitives, but full I2O2I success remains low. Compared with a fixed policy chain using the same underlying policies, it more than doubles success on both Indoor-to-Outdoor (I2O) and Outdoor-to-Indoor (O2I), while improving full-mission success from 1.15% to 4.02%. Stage-wise analysis shows that the MODULAR-Agent enables more missions to reach the final object-navigation stage, where conditional success remains low, revealing challenges in both long-horizon stage execution and completion decisions.

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Zhengjie Shu, Wanyu Li, Di Xiao, Lingxin Jiang, Lai Jiang, Kaidi Hu, Xincheng Tang, Wenkang Hu, Haoran Wang, Jinchuan Zhang, Chang Chen, Wei Li, Jia Pan, Ruigang Yang. 2026-10-13. I2O2I-Nav: A Benchmark with a Modular Agent for Long-Horizon Indoor-to-Outdoor-to-Indoor Navigation. https://arxiv.org/abs/2610.18307

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