Path Planning on UAV Benchmark 40 terrain scenarios S.I

10,210Terrain 1 CostGradient-derived Evolutionary Composite (GEC)

Updated 5mo ago

Evaluation Results

Method
Gradient-derived Evolutionary Composite (GEC)2025.12	10,210	15,760	11,450	22,160	8,837	20,340	8,883	18,680	14,480	7,972	11,910	7,872	10,940	19,470	8,573	16,940	9,485	18,690	11,970	7,906	11,050	19,590	9,635	12,750	11,690	21,270	16,410	21,660	9,834	16,110	8,976	13,200	10,430	15,920	8,330	11,520	11,790	24,770	11,560	21,370
Learning to Evolve2025.12	10,210	15,760	11,450	22,160	8,837	20,340	8,883	18,680	14,480	7,972	11,910	7,872	10,940	19,470	8,573	16,940	9,485	18,690	11,970	7,906	11,050	19,590	9,635	12,750	11,690	21,270	16,410	21,660	9,834	16,110	8,976	13,200	10,430	15,920	8,330	11,520	11,790	24,770	11,560	21,370
LGA2025.12	14,160	46,590	16,260	52,760	11,910	40,790	11,920	40,470	36,960	9,106	36,610	8,827	14,390	47,210	9,093	26,790	11,990	40,450	37,000	8,823	14,380	47,430	9,984	53,970	16,820	53,250	23,450	59,330	17,420	43,710	12,060	40,530	14,510	46,780	8,497	58,350	20,250	53,000	16,650	53,070
LGA2025.12	14,160	46,590	16,260	52,760	11,910	40,790	11,920	40,470	36,960	9,106	36,610	8,827	14,390	47,210	9,093	26,790	11,990	40,450	37,000	8,823	14,380	47,430	9,984	53,970	16,820	53,250	23,450	59,330	17,420	43,710	12,060	40,530	14,510	46,780	8,497	58,350	20,250	53,000	16,650	53,070
B2OPT2025.12	14,340	25,020	12,320	20,020	14,280	16,560	12,830	23,470	17,570	7,690	13,630	8,942	12,610	33,590	8,989	22,990	14,780	22,300	14,550	9,622	12,810	18,840	5,600	15,980	15,180	22,200	17,480	23,990	12,670	24,900	13,870	18,430	15,660	22,980	9,151	18,140	14,070	15,240	13,300	19,640
B2OPT2025.12	14,340	25,020	12,320	20,020	14,280	16,560	12,830	23,470	17,570	7,690	13,630	8,942	12,610	33,590	8,989	22,990	14,780	22,300	14,550	9,622	12,810	18,840	5,600	15,980	15,180	22,200	17,480	23,990	12,670	24,900	13,870	18,430	15,660	22,980	9,151	18,140	14,070	15,240	13,300	19,640
DEDQN2025.12	20,660	52,830	26,410	82,090	12,630	55,570	12,980	55,680	43,840	36,040	44,160	35,530	20,610	53,170	9,008	39,090	13,180	55,710	44,240	36,250	20,800	53,350	9,639	56,630	27,030	82,100	36,570	80,040	30,760	57,400	13,090	55,760	21,140	53,110	8,795	73,630	26,910	82,440	26,730	82,240
DEDQN2025.12	20,660	52,830	26,410	82,090	12,630	55,570	12,980	55,680	43,840	36,040	44,160	35,530	20,610	53,170	9,008	39,090	13,180	55,710	44,240	36,250	20,800	53,350	9,639	56,630	27,030	82,100	36,570	80,040	30,760	57,400	13,090	55,760	21,140	53,110	8,795	73,630	26,910	82,440	26,730	82,240
GLHF2025.12	21,160	27,120	25,880	25,670	18,270	25,940	19,320	26,630	26,790	23,550	26,460	23,540	20,820	26,590	9,435	24,690	19,380	26,300	26,020	24,270	21,050	27,580	11,440	26,370	26,400	25,680	25,790	27,270	25,780	27,190	19,340	26,710	21,380	27,530	9,151	25,940	25,530	27,410	26,170	26,700
GLHF2025.12	21,160	27,120	25,880	25,670	18,270	25,940	19,320	26,630	26,790	23,550	26,460	23,540	20,820	26,590	9,435	24,690	19,380	26,300	26,020	24,270	21,050	27,580	11,440	26,370	26,400	25,680	25,790	27,270	25,780	27,190	19,340	26,710	21,380	27,530	9,151	25,940	25,530	27,410	26,170	26,700
LES2025.12	46,190	55,730	35,560	55,500	19,830	38,310	19,850	38,260	52,360	8,793	57,330	8,795	46,820	56,060	7,885	44,640	20,060	38,430	57,410	8,844	48,910	56,210	5,386	54,950	35,570	56,930	15,390	65,780	31,540	85,120	19,860	38,310	46,430	55,910	15,050	80,990	35,570	55,530	41,230	65,520
LES2025.12	46,190	55,730	35,560	55,500	19,830	38,310	19,850	38,260	52,360	8,793	57,330	8,795	46,820	56,060	7,885	44,640	20,060	38,430	57,410	8,844	48,910	56,210	5,386	54,950	35,570	56,930	15,390	65,780	31,540	85,120	19,860	38,310	46,430	55,910	15,050	80,990	35,570	55,530	41,230	65,520
RNNOPT2025.12	56,900	155,800	106,700	165,700	25,650	76,110	25,650	76,060	86,920	85,880	86,930	85,920	57,980	156,400	85,940	94,960	25,720	76,140	87,160	86,050	58,480	156,600	78,110	56,560	107,500	166,300	155,700	126,800	128,300	107,300	25,650	76,100	57,700	156,300	55,350	206,700	107,400	166,300	107,700	166,500
RNNOPT2025.12	56,900	155,800	106,700	165,700	25,650	76,110	25,650	76,060	86,920	85,880	86,930	85,920	57,980	156,400	85,940	94,960	25,720	76,140	87,160	86,050	58,480	156,600	78,110	56,560	107,500	166,300	155,700	126,800	128,300	107,300	25,650	76,100	57,700	156,300	55,350	206,700	107,400	166,300	107,700	166,500