ResearchBenchmarksMulti-agent navigation on MuJoCo-Drones-Gym 16 AgentsFollow98.3SafetyMAD-PINN42.1456.7271.385.88Sep 28, 2025Evaluation ResultsMethodMethodLinksSafetySafe Success RateMAD-PINN2025.0998.386SafeMARL2025.0997.590DEF-MARLTraining Agents=8Training Agents=82025.0950.913MPPI2025.0948.89DEF-MARLTraining Agents=3Training Agents=32025.0944.37