ResearchBenchmarksPreference-conditioned planning on DroneFollow0.03ΔCPCA*-0.25721.68143.625.5586May 8, 2026Evaluation ResultsMethodMethodLinksΔCCorrelation (ρ)Normalized Reward (Rnorm)PCA*Number of waypoints=12...Number of waypoints=12, State augmentation=true2026.050.030.2815.04VIP*Number of waypoints=12...Number of waypoints=12, State augmentation=true2026.053.070.81.27MoMoNumber of waypoints=12Number of waypoints=122026.053.420.873.08IvI*Number of waypoints=12...Number of waypoints=12, State augmentation=true2026.057.210.65.72