Autonomous 3D UAV Navigation on Unstructured indoor environments
0.562Minimum Obstacle Distance (m)reliability-aware diffusion planner (delta-path)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| reliability-aware diffusion planner (delta-path)Path type=delta-path, Reliability awareness=true2026.06 | 0.562 | 0.588 | 9.5 | 92.5 | |
| reliability-aware diffusion planner (ego-path)Path type=ego-path, Reliability awareness=true2026.06 | 0.532 | 0.723 | 9.6 | 89.8 | |
| reliability-aware diffusion planner (delta-path) w/o ReliabilityPath type=delta-path, Reliability awareness=false2026.06 | 0.519 | 0.434 | 10.6 | 91.2 | |
| reliability-aware diffusion planner (ego-path) w/o ReliabilityPath type=ego-path, Reliability awareness=false2026.06 | 0.368 | 0.615 | 9 | 78.3 | |
| NoMaD2026.06 | 0.009 | 0.154 | 40.3 | 58.8 |