ResearchBenchmarksAutonomous ground exploration on Teaching Building Simulation EnvironmentFollow1Floors ExploredOurs0.950.97511.025May 22, 2026Evaluation ResultsMethodMethodLinksFloors ExploredSuccess RateAvg Exploration Time (s)Std Exploration Time (s)Avg Trajectory Distance (m)Std Trajectory Distance (m)Avg Traversable Volume (m3)Std Traversable Volume (m3)Avg Occupied Volume (m3)Std Occupied Volume (m3)Ours2026.051—1,253251,1991699212,43517TARE2026.051—922627884448711,21021FAEL2026.051—7886255347474131,15732