Safety-aware Navigation on ScanNet++ 486 start-goal trajectories benchmark
69.7Progress to GoalESDF baseline
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| ESDF baselineComputation Time (s)=0.0022026.06 | 69.7 | 0.106 | 21.8 | |
| Semantic-aware ESDFComputation Time (s)=0.0022026.06 | 60.3 | 0.108 | 20 | |
| SaferSplatComputation Time (s)=0.1492026.06 | 36 | 0.101 | 21.6 |