Delayed Required Escape on RELLIS-Dyn Delayed-required-escape scenario
0False Pre-activationGeometry-only policy
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Geometry-only policy2026.05 | 0 | 100 | 3 | 1.894 | |
| Route-aware Ctx CVaRCost function=CVaR2026.05 | 18 | 82 | 81 | 0.74 | |
| Ctx-enriched, expected costCost function=expected cost2026.05 | 37 | 63 | 62 | 0.855 | |
| Risk-loss-only2026.05 | 42 | 58 | 4 | 1.793 | |
| Black-box CVaR policy2026.05 | 92 | 8 | 20 | 0.503 | |
| DWA semantic2026.05 | 95 | 5 | 48 | 0.695 | |
| MPPI semantic2026.05 | 95 | 5 | 24 | 0.831 | |
| Fixed-coeff context field2026.05 | 99 | 1 | 3 | 0.463 |