ResearchBenchmarksLong-range building-goal navigation on Simulation Environments (300m)Follow100Success Rate (SR)RAPPER30.663248.664166.66584.6659May 25, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Success Per Length (SPL)RAPPERPlanning=OSM groundingPlanning=OSM grounding2026.0510085.25OPENInput=Exact coordinatesInput=Exact coordinates2026.0577.7842.56NoMaDInput=Target imagesInput=Target images2026.0533.3316.84