ResearchBenchmarksAutonomous Navigation to A1,2 (R) on in vitro phantom (test)Follow1,000Success Rate (SR)HM-MARL9509751,0001,025Feb 20, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Path Time (s)Path Reliability (%)HM-MARLModel Configuration (N...Model Configuration (Number of training anatomies)=12026.021,00024,972—HM-MARLModel Configuration (N...Model Configuration (Number of training anatomies)=102026.021,00026,162—