ResearchBenchmarksNavigation on Crazyflie 2.0 (real-world closed-loop)Follow94Success Rate (%)KDP91.9292.469393.54Mar 14, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (%)Time To Success (s)KDPReplan (Hz)=38, Planne...Replan (Hz)=38, Planner p50=8, E2E p50=26, K=642026.039412DiffuserReplan (Hz)=4.1, Plann...Replan (Hz)=4.1, Planner p50=242, E2E p50=312, K=64, T=202026.039212.5