ResearchBenchmarksMotion Planning on 1,000-episode 12 agents (test)Motion Planning on 1,000-episode 12 agents (test)Follow83.6Success Rate (SR)HMP-DRL51.15259.5766876.424Dec 31, 2025Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Rate (CR)Collision Rate (Agent A)Collision Rate (Agent B)Collision Rate (Agent C)Collision Rate (Other)Planning TimeDeviation Distance (Agent A)Deviation Distance (Agent B)Deviation Distance (Agent C)Waypoint Success (WS)HMP-DRL2025.1283.612.31.94.40.45.672.030.1660.1830.20968.5EB-CADRL2025.1264.912.81.94.71.54.793.420.1470.1810.18445.25SARL2025.1252.428.9515.52.26.278.360.1540.1440.1534.5