ResearchBenchmarksMulti-agent navigation on MuJoCo-Drones-Gym 12 AgentsFollow99.3SafetyMAD-PINN69.86877.50985.1592.791Sep 28, 2025Evaluation ResultsMethodMethodLinksSafetySafe Success RateMAD-PINN2025.0999.396SafeMARL2025.099996DEF-MARLTraining Agents=8Training Agents=82025.0975.237MPPI2025.0972.935DEF-MARLTraining Agents=3Training Agents=32025.097131