ResearchBenchmarksGoal-Conditioned Trajectory Planning on Maze2D MediumGoal-Conditioned Trajectory Planning on Maze2D MediumFollow130.4Success ScoreKDP-0.01633.84267.7101.558Mar 14, 2026Evaluation resultsMethodMethodLinksSuccess ScorePlanning Latency (s/step)KDP2026.03130.40.031Diffuser2026.03121.53.848IQL2026.0334.9—CQL2026.035—