ResearchBenchmarksReach-avoid navigation on Single-agent reach-avoid 2D point mass modelReach-avoid navigation on Single-agent reach-avoid 2D point mass modelFollow19.152Runtime (ms)STL-SVPIO-17.15008227.88896472.928717.96704Mar 6, 2026Evaluation resultsMethodMethodLinksRuntime (ms)Robustness ScoreSTL-SVPIO# Samples=10, # Iterat...# Samples=10, # Iterations=202026.0319.1520.108SVMPC# Samples=64, # Iterat...# Samples=64, # Iterations=2002026.03178.389-0.098MPPI# Samples=10, # Iterat...# Samples=10, # Iterations=2002026.03187.1250.005DPI# Samples=1024, # Iter...# Samples=1024, # Iterations=2002026.03194.4920.179MILP2026.03324.5780.495STLCG++# Iterations=200# Iterations=2002026.03926.704-0.068