ResearchBenchmarksRobotic Exploration on Gazebo 92m x 74m high-fidelity simulation (Scene 2)Follow531.37Distance (m)Ours511.276646.9105782.545918.1795Sep 24, 2025Evaluation ResultsMethodMethodLinksDistance (m)Time (s)Exploration Efficiency (m³/m)Exploration Rate (m³/s)Ours2025.09531.37513.0912.8113.27DRL2025.09759.88635.368.9610.72DARE2025.09797.38623.278.5410.93TARE2025.091,033.72615.376.5811.06