Before revision:  We demonstrate the generalizability of our FoR prediction model and object search system through cross-validation over areas of five cities , each with a 40,000m^2 footprint. End-to-end experiments in simulation show that our system achieves faster search and higher success rate compared to a keyword-based baseline without spatial preposition understanding .
After revision:  We demonstrate the generalizability of our FoR prediction model and object search system through cross-validation over areas of five cities in OpenStreetMap, shows that our approach achieves faster search and higher success rate compared to a keyword-based baseline without spatial preposition understanding .