ResearchBenchmarksLocalization accuracy on Lava Tube simulation mapFollow0.076RMSE (m)FUEL0.052480.211240.370.52876May 14, 2026Evaluation ResultsMethodMethodLinksRMSE (m)Experiment Finish StatusMean Error (m)Max Error (m)FUEL2026.050.076—0.0670.27ERRT2026.050.118—0.1040.303FU-MPC2026.050.191—0.1531.418EPIC2026.050.664—0.5421.821