# MANGO: A Benchmark for Evaluating Mapping and Navigation Abilities of Large Language Models

arXiv: https://arxiv.org/abs/2403.19913 · HTML: https://mlsanity.com/paper/2403.19913/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 55 of its 67 references that are in the map.
- First posted on arXiv 29 Mar 2024.

## Builds on (most cited first, 30 of 55)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Training Verifiers to Solve Math Word Problems](https://mlsanity.com/paper/2110.14168/) (2021)
- [Measuring Massive Multitask Language Understanding](https://mlsanity.com/paper/2009.03300/) (2020)
- [GLUE: A Multi-Task Benchmark and Analysis Platform for Natural Language Understanding](https://mlsanity.com/paper/1804.07461/) (2018)
- [Think you have Solved Question Answering? Try ARC, the AI2 Reasoning Challenge](https://mlsanity.com/paper/1803.05457/) (2018)
- [HellaSwag: Can a Machine Really Finish Your Sentence?](https://mlsanity.com/paper/1905.07830/) (2019)
- [PIQA: Reasoning about Physical Commonsense in Natural Language](https://mlsanity.com/paper/1911.11641/) (2019)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Learning to summarize from human feedback](https://mlsanity.com/paper/2009.01325/) (2020)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Can a Suit of Armor Conduct Electricity? A New Dataset for Open Book Question Answering](https://mlsanity.com/paper/1809.02789/) (2018)
- [Code Llama: Open Foundation Models for Code](https://mlsanity.com/paper/2308.12950/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Beyond the Imitation Game: Quantifying and extrapolating the capabilities of language models](https://mlsanity.com/paper/2206.04615/) (2022)
- [CommonsenseQA: A Question Answering Challenge Targeting Commonsense Knowledge](https://mlsanity.com/paper/1811.00937/) (2018)
- [SuperGLUE: A Stickier Benchmark for General-Purpose Language Understanding Systems](https://mlsanity.com/paper/1905.00537/) (2019)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Scaling Laws for Reward Model Overoptimization](https://mlsanity.com/paper/2210.10760/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Are NLP Models really able to Solve Simple Math Word Problems?](https://mlsanity.com/paper/2103.07191/) (2021)
- [RACE: Large-scale ReAding Comprehension Dataset From Examinations](https://mlsanity.com/paper/1704.04683/) (2017)
- [RWKV: Reinventing RNNs for the Transformer Era](https://mlsanity.com/paper/2305.13048/) (2023)

## Built on by (most cited first, 9 of 9)

- [AriGraph: Learning Knowledge Graph World Models with Episodic Memory for LLM Agents](https://mlsanity.com/paper/2407.04363/) (2024)
- [LLM-A*: Large Language Model Enhanced Incremental Heuristic Search on Path Planning](https://mlsanity.com/paper/2407.02511/) (2024)
- [ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation](https://mlsanity.com/paper/2505.09698/) (2025)
- [Transformers Struggle to Learn to Search](https://mlsanity.com/paper/2412.04703/) (2024)
- [Benchmarking General-Purpose In-Context Learning](https://mlsanity.com/paper/2405.17234/) (2024)
- [A Survey of RWKV](https://mlsanity.com/paper/2412.14847/) (2024)
- [Constructing coherent spatial memory in LLM agents through graph rectification](https://mlsanity.com/paper/2510.04195/) (2025)
- [Embodied Spatial Intelligence: from Implicit Scene Modeling to Spatial Reasoning](https://mlsanity.com/paper/2509.00465/) (2025)
- [TurnBack: A Geospatial Route Cognition Benchmark for Large Language Models through Reverse Route](https://mlsanity.com/paper/2509.18173/) (2025)

## Abstract (arXiv)

Large language models such as ChatGPT and GPT-4 have recently achieved astonishing performance on a variety of natural language processing tasks. In this paper, we propose MANGO, a benchmark to evaluate their capabilities to perform text-based mapping and navigation. Our benchmark includes 53 mazes taken from a suite of textgames: each maze is paired with a walkthrough that visits every location but does not cover all possible paths. The task is question-answering: for each maze, a large language model reads the walkthrough and answers hundreds of mapping and navigation questions such as "How should you go to Attic from West of House?" and "Where are we if we go north and east from Cellar?". Although these questions are easy to humans, it turns out that even GPT-4, the best-to-date language model, performs poorly at answering them. Further, our experiments suggest that a strong mapping and navigation ability would benefit large language models in performing relevant downstream tasks, such as playing textgames. Our MANGO benchmark will facilitate future research on methods that improve the mapping and navigation capabilities of language models. We host our leaderboard, data, code, and evaluation program at https://mango.ttic.edu and https://github.com/oaklight/mango/.