ResearchBenchmarksAutonomous Exploration on Cave EPICAutonomous Exploration on Cave EPICFollow934.58Traversal Time (s)SHIELD920.43521,015.91261,111.391,206.8674Dec 30, 2025Evaluation resultsMethodMethodLinksTraversal Time (s)Distance Covered (m)Average Velocity (m/s)SHIELDMax Velocity=5m/s, CPU...Max Velocity=5m/s, CPU=Intel Core i9-14900KF2025.12934.583,429.213.67EpicMax Velocity=5m/s, CPU...Max Velocity=5m/s, CPU=Intel Core i9-14900KF2025.121,288.23,452.382.68