ResearchBenchmarksGoal-Conditioned Trajectory Planning on Maze2D U-MazeGoal-Conditioned Trajectory Planning on Maze2D U-MazeFollow122.3Success ScoreKDP1.03632.5186495.482Mar 14, 2026Evaluation resultsMethodMethodLinksSuccess ScoreLatency (s/step)KDP2026.03122.30.031Diffuser2026.03113.93.848CQL2026.0384—KDP2026.0381.30.052Diffuser2026.03766.153IQL2026.0362.2—IQL2026.0347.4—CQL2026.035.7—