ResearchBenchmarksAutonomous Navigation to A2,3 (R) on in vitro phantom (test)Follow8,040Success RateHM-MARL7,006.247,274.627,5437,811.38Feb 20, 2026Evaluation ResultsMethodMethodLinksSuccess RatePath Time (s)Path ReliabilityHM-MARLModel Configuration (N...Model Configuration (Number of training anatomies)=102026.028,04038,668877HM-MARLModel Configuration (N...Model Configuration (Number of training anatomies)=12026.027,04642,167814