ResearchBenchmarksObject Discovery Exploration on Matterport3D simulation 1m thresholdObject Discovery Exploration on Matterport3D simulation 1m thresholdFollow8T1stSAGE3.844.9267.08May 22, 2026Evaluation resultsMethodMethodLinksT1stAllR/TDuration (Dur.)Path Score (Path)Volume (Vol.)SAGEBaseline comparison=FT...Baseline comparison=FTU, Proximity Threshold=1m2026.058020.080.161.56SAGEBaseline comparison=FA...Baseline comparison=FALCON, Proximity Threshold=1m2026.057491.231.090.94SAGEBaseline comparison=Se...Baseline comparison=Sem., Proximity Threshold=1m2026.054470.940.911.01