ResearchBenchmarks2D Navigation Value Function Prediction on City Streets OOD (test)2D Navigation Value Function Prediction on City Streets OOD (test)Follow10.8L2 ErrorIntrinsic9.06420.78232.544.218Jun 2, 2026Evaluation resultsMethodMethodLinksL2 ErrorIntrinsic2026.0610.8Neural-NF2026.0611.5MGN2026.0623.2GNO2026.0623.6GNN2026.0623.7PointNet2026.0624.8DeepONet2026.0654.2