ResearchBenchmarksRobot Navigation on ETH-UCY online setting ORCA simulationRobot Navigation on ETH-UCY online setting ORCA simulationFollow1Success Rate (SR)HiCrowd0.76080.82290.8850.9471Feb 5, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Rate (CR)Trajectory Roughness (TR)Navigation Time (NT)Path Length (PL)Minimum Path Deviation (MP)False Forward (FF)HiCrowdsetting=onlinesetting=online2026.0210019.119.021.50.001CrowdAttnsetting=online, motion...setting=online, motion_prediction=GST2026.0210026.4925.911.120.008MPCsetting=onlinesetting=online2026.020.9800.0228.2927.782.010.01SARLsetting=onlinesetting=online2026.020.7800.2233.2525.91.190.051ORCAsetting=onlinesetting=online2026.020.7700.2343.4339.971.360.013