# Multi-robot exploration on HouseExpo 16 homes, 20 seeds Source: [Multi-robot exploration on HouseExpo 16 homes, 20 seeds]() Collection index: [llms.txt]() Data updated: 2026-06-30T07:30:39.046Z Evaluation of multi-robot exploration performance on the HouseExpo dataset configuration involving 16 homes and 20 random seeds, focusing on coverage efficiency and safety metrics. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Multi-robot exploration | | Dataset (including any stated split) | HouseExpo 16 homes, 20 seeds | | Metric | Contact Rate | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 25 of 25 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Contact Rate](): Higher is better; unit: SCALAR. - [Time to 95% Coverage](): Lower is better; unit: TIME. - [Coverage Time Difference vs Baseline (%)](): Lower is better; unit: PERCENT. - [Safety Gain (×)](): Higher is better; unit: SCALAR. ## Recorded results | Method | Contact Rate | Result date | Report paper | | --- | --- | --- | --- | | Frontier | 3.501 | Not recorded | 6a434d7aba73165dbb74390c | | MMPF | 0.932 | Not recorded | 6a434d7aba73165dbb74390c | | MinP | 0.932 | Not recorded | 6a434d7aba73165dbb74390c | | Lane | 0.551 | Not recorded | 6a434d7aba73165dbb74390c | | Frontier | 0.477 | Not recorded | 6a434d7aba73165dbb74390c | | SPACE | 0.435 | Not recorded | 6a434d7aba73165dbb74390c | | MMPF | 0.11 | Not recorded | 6a434d7aba73165dbb74390c | | MinP | 0.102 | Not recorded | 6a434d7aba73165dbb74390c | | Lane | 0.06 | Not recorded | 6a434d7aba73165dbb74390c | | Frontier | 0.046 | Not recorded | 6a434d7aba73165dbb74390c | | SPACE | 0.044 | Not recorded | 6a434d7aba73165dbb74390c | | MMPF | 0.013 | Not recorded | 6a434d7aba73165dbb74390c | | MinP | 0.008 | Not recorded | 6a434d7aba73165dbb74390c | | Lane | 0.004 | Not recorded | 6a434d7aba73165dbb74390c | | SPACE | 0.003 | Not recorded | 6a434d7aba73165dbb74390c | | Frontier | 0.002 | Not recorded | 6a434d7aba73165dbb74390c | | Frontier | 0 | Not recorded | 6a434d7aba73165dbb74390c | | MMPF | 0 | Not recorded | 6a434d7aba73165dbb74390c | | MinP | 0 | Not recorded | 6a434d7aba73165dbb74390c | | Lane | 0 | Not recorded | 6a434d7aba73165dbb74390c | | SPACE | 0 | Not recorded | 6a434d7aba73165dbb74390c | | MMPF | 0 | Not recorded | 6a434d7aba73165dbb74390c | | MinP | 0 | Not recorded | 6a434d7aba73165dbb74390c | | Lane | 0 | Not recorded | 6a434d7aba73165dbb74390c | | SPACE | 0 | Not recorded | 6a434d7aba73165dbb74390c | ### Frontier Contact Rate: 3.501. Result ID: 6a437083fbc373592c9392b4. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"256"}. This record does not assert independent reproduction. ### MMPF Contact Rate: 0.932. Result ID: 6a437083fbc373592c9392b5. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"256"}. This record does not assert independent reproduction. ### MinP Contact Rate: 0.932. Result ID: 6a437083fbc373592c9392b6. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"256"}. This record does not assert independent reproduction. ### Lane Contact Rate: 0.551. Result ID: 6a437083fbc373592c9392b7. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"256"}. This record does not assert independent reproduction. ### Frontier Contact Rate: 0.477. Result ID: 6a437083fbc373592c9392af. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"128"}. This record does not assert independent reproduction. ### SPACE Contact Rate: 0.435. Result ID: 6a437083fbc373592c9392b8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Swarm size (N)":"256"}. This record does not assert independent reproduction. ### MMPF Contact Rate: 0.11. Result ID: 6a437083fbc373592c9392b0. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"128"}. This record does not assert independent reproduction. ### MinP Contact Rate: 0.102. Result ID: 6a437083fbc373592c9392b1. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"128"}. This record does not assert independent reproduction. ### Lane Contact Rate: 0.06. Result ID: 6a437083fbc373592c9392b2. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"128"}. This record does not assert independent reproduction. ### Frontier Contact Rate: 0.046. Result ID: 6a437083fbc373592c9392aa. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"64"}. This record does not assert independent reproduction. ### SPACE Contact Rate: 0.044. Result ID: 6a437083fbc373592c9392b3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Swarm size (N)":"128"}. This record does not assert independent reproduction. ### MMPF Contact Rate: 0.013. Result ID: 6a437083fbc373592c9392ab. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"64"}. This record does not assert independent reproduction. ### MinP Contact Rate: 0.008. Result ID: 6a437083fbc373592c9392ac. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"64"}. This record does not assert independent reproduction. ### Lane Contact Rate: 0.004. Result ID: 6a437083fbc373592c9392ad. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"64"}. This record does not assert independent reproduction. ### SPACE Contact Rate: 0.003. Result ID: 6a437083fbc373592c9392ae. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Swarm size (N)":"64"}. This record does not assert independent reproduction. ### Frontier Contact Rate: 0.002. Result ID: 6a437083fbc373592c9392a5. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"32"}. This record does not assert independent reproduction. ### Frontier Contact Rate: 0. Result ID: 6a437083fbc373592c9392a0. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"16"}. This record does not assert independent reproduction. ### MMPF Contact Rate: 0. Result ID: 6a437083fbc373592c9392a1. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"16"}. This record does not assert independent reproduction. ### MinP Contact Rate: 0. Result ID: 6a437083fbc373592c9392a2. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"16"}. This record does not assert independent reproduction. ### Lane Contact Rate: 0. Result ID: 6a437083fbc373592c9392a3. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"16"}. This record does not assert independent reproduction. ### SPACE Contact Rate: 0. Result ID: 6a437083fbc373592c9392a4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Swarm size (N)":"16"}. This record does not assert independent reproduction. ### MMPF Contact Rate: 0. Result ID: 6a437083fbc373592c9392a6. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"32"}. This record does not assert independent reproduction. ### MinP Contact Rate: 0. Result ID: 6a437083fbc373592c9392a7. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"32"}. This record does not assert independent reproduction. ### Lane Contact Rate: 0. Result ID: 6a437083fbc373592c9392a8. [Reporting paper]() Recorded evaluation configuration: {"Swarm size (N)":"32"}. This record does not assert independent reproduction. ### SPACE Contact Rate: 0. Result ID: 6a437083fbc373592c9392a9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Swarm size (N)":"32"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.