ResearchBenchmarksExploration and Object Identification on CubeExploration and Object Identification on CubeFollow83.3Success RateTACTFUL48.66857.65966.6575.641Jun 23, 2026Evaluation resultsMethodMethodLinksSuccess RateChamfer-L2 DistanceTACTFULInit. Δ (m)=0.255±0.059Init. Δ (m)=0.255±0.0592026.0683.30.012RL w/o BCInit. Δ (m)=0.256±0.048Init. Δ (m)=0.256±0.0482026.06750.023BC onlyInit. Δ (m)=0.253±0.063Init. Δ (m)=0.253±0.0632026.0658.30.063HeuristicInit. Δ (m)=0.318±0.004Init. Δ (m)=0.318±0.0042026.06500.052