Robotic Path Planning on Maze2D (test)
-1BS1FM
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| FMSampling Horizon (T)=2562025.09 | -1 | -1 | 1.422 | 3.51 | 0 | 52.09 | 33.96 | |
| TruncationSampling Horizon (T)=2562025.09 | -0.999 | -0.999 | 0.978 | 19.51 | 100 | 1,118.21 | 904,300 | |
| CG-ϵSampling Horizon (T)=2562025.09 | -0.998 | -0.999 | 0.499 | 19.87 | 100 | 1,027.28 | 1,202,000,000 | |
| CGSampling Horizon (T)=2562025.09 | -0.996 | -0.999 | 0.505 | 19.13 | 100 | 949.63 | 959.71 | |
| DiffuserSampling Horizon (T)=2562025.09 | -0.825 | -0.784 | 1.572 | 3.7 | 0 | 77.04 | 86.68 | |
| DDIMη=0, Sampling Horizon (T)=2562025.09 | -0.642 | -0.902 | 1.474 | 3.63 | 0 | 64.51 | 57.46 | |
| DDIMη=1, Sampling Horizon (T)=2562025.09 | -0.595 | -0.899 | 1.565 | 3.72 | 0 | 64.21 | 57.15 | |
| FlowMatcherTp=1, Tc=2562025.09 | -0.324 | -0.904 | 1.632 | 3.51 | 0 | 73.51 | 88.45 | |
| SafeDDIMη=0, Guidance strategy=TVS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | -0.026 | -0.026 | 1.522 | 4.79 | 90 | 42.56 | 575.73 | |
| SafeDDIMη=1, Guidance strategy=TVS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | -0.026 | -0.026 | 1.549 | 4.74 | 65 | 60.29 | 27.23 | |
| SafeDiffuserGuidance strategy=TVS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | -0.003 | -0.003 | 1.506 | 4.78 | 69 | 78.72 | 124.51 | |
| SafeFMGuidance strategy=TVS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | -0.002 | -0.002 | 1.35 | 4.73 | 41 | 60.29 | 768.71 | |
| SafeDiffuserGuidance strategy=ROS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.435 | 4.67 | 100 | 75.15 | 422.87 | |
| SafeDiffuserGuidance strategy=RES, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.442 | 4.72 | 72 | 80.3 | 398.17 | |
| SafeDDIMη=0, Guidance strategy=ROS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.132 | 4.79 | 100 | 31.22 | 2,073.84 | |
| SafeDDIMη=0, Guidance strategy=RES, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.405 | 4.83 | 96 | 43.23 | 1,153.81 | |
| SafeDDIMη=1, Guidance strategy=ROS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.575 | 4.89 | 100 | 56.3 | 668.17 | |
| SafeDDIMη=1, Guidance strategy=RES, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.532 | 4.82 | 86 | 61.73 | 1,584 | |
| SafeFMGuidance strategy=ROS, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.138 | 4.68 | 100 | 23.57 | 13,170 | |
| SafeFMGuidance strategy=RES, Robustness margin (δ)=0.01, Sampling Horizon (T)=2562025.09 | 0.01 | 0.01 | 1.401 | 4.74 | 12 | 61.17 | 6,724.64 | |
| SafeFlowMatcherRelaxation=false, Robustness margin (δ)=0.01, Tp=1, Tc=2562025.09 | 0.01 | 0.01 | 1.622 | 4.76 | 2 | 71.73 | 108.43 | |
| SafeFlowMatcherRelaxation=true, Robustness margin (δ)=0.01, Tp=1, Tc=2562025.09 | 0.01 | 0.01 | 1.632 | 4.71 | 0 | 69.19 | 91.9 |