# Navigation on TurtleBot4 Environment CY

Source: [Navigation on TurtleBot4 Environment CY](<https://www.sota2.com/research/sota/navigation-on-turtlebot4-environment-cy>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-06-11T10:16:28.032Z

Evaluation of robot navigation performance using the TurtleBot4 platform within the CY environment, measured by goal arrival rate, collision frequency, distance traveled, and completion time.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Navigation |
| Dataset (including any stated split) | TurtleBot4 Environment CY |
| Metric | Goal Arrival Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 5 of 5 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Goal Arrival Rate](<https://www.sota2.com/research/sota/navigation-on-turtlebot4-environment-cy.md?metric=Goal%20Arrival%20Rate>): Higher is better; unit: PERCENT.

- [Average Collisions](<https://www.sota2.com/research/sota/navigation-on-turtlebot4-environment-cy.md?metric=Average%20Collisions>): Lower is better; unit: SCALAR.

- [Distance Traveled (m)](<https://www.sota2.com/research/sota/navigation-on-turtlebot4-environment-cy.md?metric=Distance%20Traveled%20(m)>): Lower is better; unit: SCALAR.

- [Completion Time (s)](<https://www.sota2.com/research/sota/navigation-on-turtlebot4-environment-cy.md?metric=Completion%20Time%20(s)>): Lower is better; unit: TIME.

## Recorded results

| Method | Goal Arrival Rate | Result date | Report paper |
| --- | --- | --- | --- |
| SAFER-Nav | 90 | Not recorded | 6a2a4133d33dfb23e783940f |
| ViNT | 40 | Not recorded | 6a2a4133d33dfb23e783940f |
| ViNT + CARE | 30 | Not recorded | 6a2a4133d33dfb23e783940f |
| NoMaD | 20 | Not recorded | 6a2a4133d33dfb23e783940f |
| NoMaD + CARE | 20 | Not recorded | 6a2a4133d33dfb23e783940f |

### SAFER-Nav

Goal Arrival Rate: 90. Result ID: 6a2a8abefbc373592c284def.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4133d33dfb23e783940f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a2a4133d33dfb23e783940f.md>)

Recorded evaluation configuration: {"Robot platform":"TurtleBot4","Environment":"CY"}. This record does not assert independent reproduction.

### ViNT

Goal Arrival Rate: 40. Result ID: 6a2a8abefbc373592c284df0.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4133d33dfb23e783940f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f81e209131cea4e73a.md>)

Recorded evaluation configuration: {"Robot platform":"TurtleBot4","Environment":"CY"}. This record does not assert independent reproduction.

### ViNT + CARE

Goal Arrival Rate: 30. Result ID: 6a2a8abefbc373592c284df2.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4133d33dfb23e783940f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a851e209131cea83ac1.md>)

Recorded evaluation configuration: {"Robot platform":"TurtleBot4","Environment":"CY"}. This record does not assert independent reproduction.

### NoMaD

Goal Arrival Rate: 20. Result ID: 6a2a8abefbc373592c284df1.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4133d33dfb23e783940f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70da1e209131cea4db31.md>)

Recorded evaluation configuration: {"Robot platform":"TurtleBot4","Environment":"CY"}. This record does not assert independent reproduction.

### NoMaD + CARE

Goal Arrival Rate: 20. Result ID: 6a2a8abefbc373592c284df3.

[Reporting paper](<https://www.sota2.com/research/paper/6a2a4133d33dfb23e783940f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a851e209131cea83ac1.md>)

Recorded evaluation configuration: {"Robot platform":"TurtleBot4","Environment":"CY"}. This record does not assert independent reproduction.

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