ResearchBenchmarksMulti-Agent Path-Finding on MAPF 4x4 grid, n=2, 9 obstaclesMulti-Agent Path-Finding on MAPF 4x4 grid, n=2, 9 obstaclesFollow0Collision RateP1-2.90816.72136.3555.979Apr 8, 2026Evaluation resultsMethodMethodLinksCollision RateShield Failure RateSuccess RateP1R=2, shield=P1R=2, shield=P12026.04005.1P2R=2, shield=P2R=2, shield=P22026.040092.9P1R=1, shield=P1R=1, shield=P12026.04005.5P2R=1, shield=P2R=1, shield=P22026.040090.6P1R=0, shield=P1R=0, shield=P12026.04004.6P2R=0, shield=P2R=0, shield=P22026.04032.529.5Unshielded Random PolicyR=-, shield=/R=-, shield=/2026.0472.7027.3