ResearchBenchmarksMulti-agent navigation on MuJoCo-Drones-Gym 3 AgentsFollow100Safety RateMAD-PINN93.7695.389798.62Sep 28, 2025Evaluation ResultsMethodMethodLinksSafety RateSafe Success RateMAD-PINN2025.09100100DEF-MARLTraining Agents=8Training Agents=82025.09100100SafeMARL2025.09100100MPPI2025.099897DEF-MARLTraining Agents=3Training Agents=32025.099491