ResearchBenchmarksDynamic Obstacle Avoidance on Dynamic Obstacle Avoidance Environment 100 scenarios (test)Follow94Success RateRAY-TOLD88.890.1591.592.85Apr 30, 2026Evaluation ResultsMethodMethodLinksSuccess RateSuccess Rate ImprovementCollision RateCollision Rate ImprovementSafety Margin (m)Safety Margin ImprovementRAY-TOLDalpha=0.1alpha=0.12026.04945.62645.450.185.26RAY-TOLDalpha=0.2alpha=0.22026.04912.25918.180.185.26MPPINote=BaselineNote=Baseline2026.0489—11—0.19—RAY-TOLDalpha=0alpha=02026.048901100.1710.53