ResearchBenchmarksNavigation on Gazebo Citysim Outdoor Basic routeNavigation on Gazebo Citysim Outdoor Basic routeFollow94Success RateORION43.0456.2769.582.73Jun 25, 2026Evaluation resultsMethodMethodLinksSuccess RateProgressCollision CountMedian Heading JerkORIONPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.069494.680.061.09NC-ETFPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.068991.180.212.38NoMaDPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.068889.850.125.08ViNTPlatform=Clearpath Hus...Platform=Clearpath Husky UGV2026.064573.581.481.22