Navigation on RELLIS-Dyn 3-event material aggregate
100Success RateGeometry-only policy
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Geometry-only policyFamily=geom.-only, ms/step=0.82026.05 | 100 | 0.712 | 16.2 | 4 | 0 | |
| Risk-loss-onlyFamily=learned loss, ms/step=0.92026.05 | 100 | 0.673 | 13.4 | 3 | 0 | |
| Oracle replannerFamily=planner†, ms/step=97.52026.05 | 100 | 0.601 | 1.9 | 0 | 68.3 | |
| Ctx-enriched, exp.costFamily=learned field, ms/step=2.12026.05 | 98.3 | 0.465 | 1.3 | 2 | 0 | |
| Local A* (budget)Family=planner, ms/step=8.42026.05 | 98.3 | 0.629 | 4.6 | 1 | 9.8 | |
| Route-aware CtxFamily=learned field, ms/step=2.32026.05 | 98 | 0.638 | 1.8 | 6 | 0 | |
| MPC (budget)Family=planner, ms/step=42.22026.05 | 96.7 | 0.624 | 3.8 | 3 | 11.1 | |
| CBF-QPFamily=safety filter, ms/step=0.92026.05 | 89 | 0.651 | 7.4 | 9 | 0 | |
| DWA semanticFamily=reactive, ms/step=0.62026.05 | 56.7 | 0.621 | 2.8 | 43 | 0 | |
| Black-box CVaRFamily=learned field, ms/step=4.22026.05 | 27.3 | 0.482 | 3.61 | 61 | 0 | |
| Fixed-coeff CtxFamily=learned field, ms/step=1.42026.05 | 12 | 0.459 | 1.47 | 74 | 0 |