ResearchBenchmarksTask Allocation on Scene-1Task Allocation on Scene-1Follow63.8Mean MakespanCS62.55670.95379.3587.747Mar 26, 2026Evaluation resultsMethodMethodLinksMean MakespanVariance MakespanCSDescription=Clairvoyan...Description=Clairvoyant strategy2026.0363.83.24Ours-GPredictor=GRU-based tr...Predictor=GRU-based trajectory predictor2026.0366.96.12Ours2026.0367.65.32NU2026.0372.514.32Ours-P10Replanning=Periodic ev...Replanning=Periodic every 10s2026.0379.311.45NTP2026.0381.912.41BnB2026.039220.13MILP2026.0394.916.33