ResearchBenchmarksConstrained Goal Reaching on Constrained AntennaFollow97Reach Rateuref+BCLF-3.8822.3148.574.69Mar 11, 2026Evaluation ResultsMethodMethodLinksReach RateAvoid RateSuccess Rate (SR)uref+BCLF2026.03974140Ours2026.03959895uref2026.03533733uref+BCBF2026.035985CPOMCPOWdelta t=0.1delta t=0.12026.0301000CPFT-DPWdelta t=0.1delta t=0.12026.030990