ResearchBenchmarksObject Discovery Exploration on Matterport3D 1.5m threshold (simulation)Object Discovery Exploration on Matterport3D 1.5m threshold (simulation)Follow5T1st SuccessSAGE2.923.4644.54May 22, 2026Evaluation resultsMethodMethodLinksT1st SuccessAll SuccessR/T SuccessDurationPath EfficiencyVolume EfficiencySAGEBaseline comparison=FT...Baseline comparison=FTU, Proximity Threshold=1.5m2026.055330.080.161.56SAGEBaseline comparison=FA...Baseline comparison=FALCON, Proximity Threshold=1.5m2026.054891.231.090.94SAGEBaseline comparison=Se...Baseline comparison=Sem., Proximity Threshold=1.5m2026.053660.940.911.01