STL-conditioned Robotic Planning on Layout In-Distribution (ID)
90.88Success Rate (single-F)Baseline (no-MoE)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Baseline (no-MoE)TSP=true2025.09 | 90.88 | 79 | 77.75 | 82.25 | 74.33 | 77.88 | |
| S-MSPTSP=true2025.09 | 89 | 90 | 85.83 | 93 | 84.5 | 88 | |
| S-MSPTSP=false2025.09 | 77.75 | 77 | 63.5 | 79 | 62.5 | 71 | |
| Baseline (no-MoE)TSP=false2025.09 | 72.75 | 60.75 | 61.25 | 64.88 | 60.5 | 61.5 |