Speed optimization on Roundabout Scenarios (SUMO simulation) Non-Optimizable Scenarios
-13.4BEV Energy Consumption (%)MB-TP
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| MB-TPOptimization method=Model-based, Modality=Trajectory Prediction2026.06 | -13.4 | 8.1 | 8.1 | 7 | 3 | 3 | |
| RL-OPOptimization method=RL-based, Modality=Occupancy Prediction2026.06 | -6.1 | 2.4 | 2.4 | 2.5 | 2 | 2 | |
| MB-OPOptimization method=Model-based, Modality=Occupancy Prediction2026.06 | -5 | 1.6 | 1.6 | 2.2 | 1 | 1 | |
| RL-GTOptimization method=RL-based, Modality=Ground Truth2026.06 | -2.6 | 0.5 | 0.5 | 0.5 | 0 | 0 | |
| ROSA-RLOptimization method=RL-based, Modality=Occupancy Prediction, Uncertainty-aware=true, label=UA-RL-OP2026.06 | -2.4 | 4.8 | 4.8 | 7.5 | 0 | 0 | |
| MB-GTOptimization method=Model-based, Modality=Ground Truth2026.06 | -2.3 | 0.2 | 0.2 | 0 | 0 | 0 |