ResearchBenchmarksMulti-robot Coverage on Scenes Medium (test)Follow77.44Coverage (%)DA-HGNN48.351255.903163.45571.0069Jan 7, 2026Evaluation ResultsMethodMethodLinksCoverage (%)Time (steps)DA-HGNNNumber of Robots=4Number of Robots=42026.0177.441,894.84GreedyNumber of Robots=4Number of Robots=42026.0167.352,071.33NCMNumber of Robots=4Number of Robots=42026.0166.552,271.54UtilityNumber of Robots=4Number of Robots=42026.0159.622,539.76VoronoiNumber of Robots=4Number of Robots=42026.0151.232,739.45CoscanNumber of Robots=4Number of Robots=42026.0149.472,777.62