Robot Navigation on 20-obstacle environment Unicycle
66.2Success Rate (SR)Proposed
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| ProposedPolicy Type=RL+Opt.2026.05 | 66.2 | 33.8 | 2.38 | 6.86 | 0.7 | |
| BarrierNetPolicy Type=RL+Opt.2026.05 | 64.4 | 35.6 | 2.35 | 6.51 | 0.75 | |
| CBF-QPPolicy Type=Opt.2026.05 | 61.4 | 38.6 | 2.25 | 6.6 | 0.75 | |
| CVaR-BF-QPPolicy Type=Opt.2026.05 | 58.6 | 41.4 | 2.11 | 6.63 | 0.8 | |
| Vanilla RL + SFPolicy Type=RL+Opt.2026.05 | 57 | 43 | 1.96 | 6.78 | 0.9 | |
| Adaptive-CVaR-BFPolicy Type=Opt.2026.05 | 56.2 | 43.8 | 2.01 | 6.52 | 0.82 | |
| Vanilla RLPolicy Type=RL2026.05 | 55.8 | 44.2 | 2.07 | 6.17 | 0.92 | |
| ORCAPolicy Type=Opt.2026.05 | 52.6 | 47.4 | 1.92 | 5.76 | 0.79 | |
| CrowdNav++ (const vel) + SFPolicy Type=RL+Opt.2026.05 | 48.2 | 51.8 | 0.65 | 8.84 | 0.53 | |
| CrowdNav++ (inferred)Policy Type=RL2026.05 | 47.4 | 52.6 | 0.73 | 7.7 | 0.52 | |
| CrowdNav++ (inferred) + SFPolicy Type=RL+Opt.2026.05 | 46.8 | 53.2 | 0.7 | 8.16 | 0.6 | |
| CrowdNav++ (const vel)Policy Type=RL2026.05 | 46.6 | 53.4 | 0.59 | 7.84 | 0.42 |