ResearchBenchmarksLast-mile open-vocabulary exploration on Simulation Environments (800m)Follow62.22Success Rate (SR)RAPPER-2.488814.310631.1147.9094May 25, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Success Per Length (SPL)RAPPERPlanning=OSM groundingPlanning=OSM grounding2026.0562.2235.67OPENInput=Exact coordinatesInput=Exact coordinates2026.0517.789.42NoMaDInput=Target imagesInput=Target images2026.0500