Robot Navigation on 20-obstacle environment Single Integrator
72.4Success RateProposed
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| ProposedPolicy Type=RL+Opt.2026.05 | 72.4 | 27.6 | 2.38 | 7.85 | 0.4 | |
| CrowdNav++ (const vel) + SFPolicy Type=RL+Opt.2026.05 | 71.6 | 28.4 | 1.57 | 9.26 | 0.36 | |
| CrowdNav++ (const vel)Policy Type=RL2026.05 | 70 | 30 | 1.47 | 8.22 | 0.3 | |
| BarrierNetPolicy Type=RL+Opt.2026.05 | 68.2 | 31.8 | 2.17 | 7.17 | 0.38 | |
| Vanilla RL + SFPolicy Type=RL+Opt.2026.05 | 67.8 | 32.2 | 2.15 | 8.65 | 0.46 | |
| CVaR-BF-QPPolicy Type=Opt.2026.05 | 67.6 | 32.4 | 2.09 | 7.66 | 0.28 | |
| Adaptive-CVaR-BFPolicy Type=Opt.2026.05 | 67.6 | 32.4 | 2.08 | 7.65 | 0.26 | |
| CBF-QPPolicy Type=Opt.2026.05 | 67 | 33 | 2.04 | 7.5 | 0.25 | |
| CrowdNav++ (inferred) + SFPolicy Type=RL+Opt.2026.05 | 65.6 | 34.2 | 1.41 | 8.84 | 0.39 | |
| Vanilla RLPolicy Type=RL2026.05 | 62.8 | 37.2 | 1.94 | 8.3 | 0.46 | |
| CrowdNav++ (inferred)Policy Type=RL2026.05 | 62.6 | 37.2 | 1.34 | 8.27 | 0.38 | |
| ORCAPolicy Type=Opt.2026.05 | 50.2 | 49.8 | 1.31 | 6.26 | 0.22 |