Safe Planning on 2D Maze Default Sampling Steps
1Safety ScorePolyFlow-attn
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| PolyFlow-attnSampling Steps (N)=102026.06 | 1 | 6.2 | 0.041 | 0.134 | 0.098 | 6.15 | 2.11 | 0.211 | |
| PolyFlow-mlpSampling Steps (N)=102026.06 | 1 | 2.62 | 0.033 | 0.05 | 0.097 | 6.37 | 0.58 | 0.058 | |
| RoSDSampling Steps (N)=2562026.06 | 0.98 | 3.55 | 0.129 | 38.057 | 0.086 | 5.57 | 10.3 | 0.04 | |
| SafeFlowSampling Steps (N)=2002026.06 | 0.965 | 5.77 | 0.321 | 2.842 | 0.164 | 9.13 | 153.5 | 0.767 | |
| TVSDSampling Steps (N)=2562026.06 | 0.945 | 7.62 | 0.166 | 65.709 | 0.084 | 5.25 | 57.52 | 0.225 | |
| FlowSampling Steps (N)=2002026.06 | 0.765 | 2.57 | 0.046 | 0.168 | 0.084 | 4.98 | 3.65 | 0.018 | |
| ReSDSampling Steps (N)=2562026.06 | 0.34 | 4.25 | 0.665 | 1.043 | 1.065 | 1.46 | 73.46 | 0.299 | |
| FlowTruncSampling Steps (N)=2002026.06 | 0 | 0.202 | 2.361 | 9.093 | 2.075 | 2 | 3.69 | 0.018 |