ResearchBenchmarksGoal-Conditioned Trajectory Planning on Maze2D LargeGoal-Conditioned Trajectory Planning on Maze2D LargeFollow133Success ScoreKDP7.6840.21572.75105.285Mar 14, 2026Evaluation resultsMethodMethodLinksSuccess ScorePlanning Latency (s/step)KDP2026.031330.031Diffuser2026.031233.848IQL2026.0358.6—CQL2026.0312.5—