ResearchBenchmarksAutonomous Navigation to A1,2 (L) on in vitro phantom (test)Follow0Success Rate (SR)HM-MARL-0.001-0.000500.0005Feb 20, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Path Time (s)Path Reliability (PR)HM-MARLModel Configuration (N...Model Configuration (Number of training anatomies)=12026.020—734HM-MARLModel Configuration (N...Model Configuration (Number of training anatomies)=102026.020—753