ResearchBenchmarksMulti-robot Exploration on Scenes Large (test)Follow98.88Exploration Coverage (%)DA-HGNN97.954498.194798.43598.6753Jan 7, 2026Evaluation ResultsMethodMethodLinksExploration Coverage (%)Exploration Time (steps)DA-HGNNNumber of Robots=4Number of Robots=42026.0198.88979.44GreedyNumber of Robots=4Number of Robots=42026.0198.581,108.25VoronoiNumber of Robots=4Number of Robots=42026.0198.47972.43UtilityNumber of Robots=4Number of Robots=42026.0198.391,384.7CoscanNumber of Robots=4Number of Robots=42026.0198.07871.76NCMNumber of Robots=4Number of Robots=42026.0197.991,005.58