Multi-robot navigation on 1000 Environments four-robot setup (unseen test)
79Full Success RateRokenRL
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| RokenRLLtraj=true, Locc=true, Lwp=true, Lsdf=true2026.06 | 79 | 12.7 | 8.9 | 92 | 94.7 | 0.622 | |
| RokenmixedLtraj=true, Locc=true, Lwp=true, Lsdf=true2026.06 | 77.9 | 11.2 | 9.8 | 89.9 | 91.5 | 0.629 | |
| RokenfourLtraj=true, Locc=true, Lwp=true, Lsdf=true2026.06 | 76.5 | 14.5 | 8.1 | 87.3 | 92.3 | 0.623 | |
| Laplacian2026.06 | 74.1 | 9.8 | 5.3 | 94.9 | 78.4 | 1.178 | |
| Rokenfour (Ablation)Ltraj=true, Locc=true, Lwp=false, Lsdf=false, epochs=2002026.06 | 72.4 | 17.9 | 8.8 | 84.4 | 89.4 | 0.631 | |
| Rokenfour (Ablation)Ltraj=true, Locc=true, Lwp=true, Lsdf=true, epochs=2002026.06 | 71.9 | 16.4 | 12.2 | 86.5 | 90.9 | 0.628 | |
| Rokenfour (Ablation)Ltraj=true, Locc=true, Lwp=true, Lsdf=false, epochs=2002026.06 | 69.8 | 22.5 | 10.1 | 87.4 | 91 | 0.619 | |
| SGG2026.06 | 47.9 | 0 | 2.8 | 50.5 | 97.6 | 0.492 | |
| GNN2026.06 | 32.7 | 32.9 | 0 | 41.4 | 99.9 | 2.174 | |
| Rokenfour (Ablation)Ltraj=true, Locc=false, Lwp=false, Lsdf=false, epochs=2002026.06 | 26.2 | 70.7 | 11 | 99.7 | 100 | 0.523 |