ResearchBenchmarksAutonomous Exploration on Ruins SceneAutonomous Exploration on Ruins SceneFollow278.73Time (s)SHIELD272.368315.3115358.255401.1985Dec 30, 2025Evaluation resultsMethodMethodLinksTime (s)Distance Covered (m)Average Velocity (m/s)SHIELDMax Velocity=5m/s, CPU...Max Velocity=5m/s, CPU=Intel Core i9-14900KF2025.12278.731,123.094.03EpicMax Velocity=5m/s, CPU...Max Velocity=5m/s, CPU=Intel Core i9-14900KF2025.12437.781,323.573.01