The composition of the returned map

RoboCupJunior Rescue RoboCupJunior Rescue Simulation
1

1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,H,1,0,1,1,H,1,1,0,1,H,1
1,5,0,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
1,5,0,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
1,1,1,1,1,H,1,0,1,1,H,1,1,0,1,H,1,1,1,1,1,1,1,1,1,1,1,1,1
save victim
Above is the map we returned, and below is our map. I would like to ask:

  1. Our accuracy rate is only 93%. After comparison, we couldn’t identify the error. Could you help us find out what is wrong?
  2. In the map, for the boundaries without walls, what character should be used to fill in the space, a space (’ '), a one (‘1’), or another character?
  3. For areas within the map that are completely enclosed by walls and cannot be detected by the robot, what character should be used to fill in the space?
  4. For areas outside the map that the robot has traversed, what character should be used to fill in the space to avoid being penalized?