ResearchBenchmarksConstrained Goal Reaching on Constrained LightdarkFollow100Reach Success Rateuref+BCLF49.0462.2775.588.73Mar 11, 2026Evaluation ResultsMethodMethodLinksReach Success RateAvoidance RateSuccess Ratiouref+BCLF2026.0310033Ours2026.039910099CPFT-DPWdelta t=1delta t=12026.03903535CPOMCPOWdelta t=1delta t=12026.03726940CPFT-DPWdelta t=0.1delta t=0.12026.03667956CPOMCPOWdelta t=0.1delta t=0.12026.03528647uref2026.035110051uref+BCBF2026.035110051