ResearchBenchmarksSwarm resource collection on Clustered distributionSwarm resource collection on Clustered distributionFollow394Time (80% $\rightarrow$ 90%)GCFA393.704395.702397.7399.698May 21, 2026Evaluation resultsMethodMethodLinksTime (80% $\rightarrow$ 90%)Time (90% $\rightarrow$ 100%)Endgame Improvement (%)GCFANumber of Robots=48Number of Robots=482026.05394680.7-14.69CPFANumber of Robots=48Number of Robots=482026.05401.4593.5—