Highway Navigation on Highway Mean over three scenarios 200 seeds each (test)
100Success RateMOBIL-IDM
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| MOBIL-IDMFamily=hand-eng.2026.05 | 100 | 0 | 0 | 5.81 | 21.29 | 254.8 | 1 | |
| Risk-aware MPCFamily=planning2026.05 | 100 | 0 | 0 | 17.54 | 13.75 | 164 | 2 | |
| Chance-const. MPCFamily=planning2026.05 | 100 | 0 | 0 | 18.34 | 14.79 | 176.6 | 3 | |
| Ctx-enrichedFamily=learned field2026.05 | 100 | 0 | 0 | 18.35 | 18.86 | 225.8 | 4 | |
| CBF-QP filterFamily=safety filter2026.05 | 100 | 0 | 0 | 30.66 | 14.63 | 175.2 | 5 | |
| IDMFamily=hand-eng.2026.05 | 100 | 0 | 0 | 33.18 | 14.08 | 168.6 | 6 | |
| PPO-LagrangianFamily=learned const.2026.05 | 75 | 25 | 73 | 5.01 | 24.61 | 105.6 | 7 | |
| SACFamily=learned RL2026.05 | 62 | 38 | 38 | 15.12 | 22.56 | 160.7 | 8 | |
| Geometry-only policyFamily=geom.-only2026.05 | 32 | 68 | 32 | 6.88 | 23.66 | 125.9 | 10 |