Constrained Navigation on Maze2D Broad
97Success Rate (SR)DiRecT
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| DiRecT2026.06 | 97 | 0.45 | 1.5 | 17.657 | 100 | 0 | 0.002 | 0.008 | |
| DiRecT2026.06 | 97 | 0.45 | 1.5 | 17.657 | — | — | — | — | |
| SafeDiffuser-ReS2026.06 | 52 | 9.69 | 0.907 | 486.568 | 100 | 0 | 0.003 | 0.015 | |
| Projected Diffusion2026.06 | 22 | 42 | 1.119 | 46.398 | 100 | 0 | 0.002 | 0.011 | |
| Projected Diffusion2026.06 | 22 | 42 | 1.119 | 46.398 | — | — | — | — | |
| Primal-Dual2026.06 | 17 | 26.61 | 0.267 | 5.957 | 100 | 0 | 21.299 | 1.861 | |
| Augmented Lagrangian2026.06 | 8 | 72.92 | 0.01 | 5.676 | 0 | 91.01 | 2.152 | 1.407 | |
| Augmented Lagrangian2026.06 | 8 | 72.92 | 0.01 | 5.676 | — | — | — | — | |
| Gradient Guidance2026.06 | 4 | 25.52 | 1.587 | 3.637 | 4 | 10.22 | 0.056 | 0.636 | |
| SafeDiffuser-RoS2026.06 | 4 | 66.26 | 1.186 | 148.967 | 100 | 0 | 0.008 | 0.01 | |
| SafeDiffuser-TVS2026.06 | 4 | 62.24 | 1.219 | 128.758 | 100 | 0 | 0.005 | 0.01 | |
| Gradient Guidance2026.06 | 4 | 25.52 | 1.587 | 3.637 | — | — | — | — | |
| SafeDiffuser-RoS2026.06 | 4 | 66.26 | 1.186 | 148.967 | — | — | — | — | |
| Classifier Guidance2026.06 | 3 | 37.48 | 1.587 | 0.654 | 4 | 35.76 | 0.055 | 0.619 | |
| Diffuser2026.06 | 0 | 45.92 | 1.601 | 0.316 | 0 | 49.04 | 0.057 | 0.636 | |
| Diffuser2026.06 | 0 | 45.92 | 1.601 | 0.316 | — | — | — | — |