ResearchBenchmarksLast-mile open-vocabulary exploration on Simulation Environments (300m)Follow80Success Rate (SR)RAPPER8.354426.954745.55564.1553May 25, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Success Per Length (SPL)RAPPERPlanning=OSM groundingPlanning=OSM grounding2026.058038.52OPENInput=Exact coordinatesInput=Exact coordinates2026.052010.53NoMaDInput=Target imagesInput=Target images2026.0511.114.26