ResearchBenchmarksTask Allocation on Scene-2Task Allocation on Scene-2Follow65.3Mean MakespanCS64.1272.08580.0588.015Mar 26, 2026Evaluation resultsMethodMethodLinksMean MakespanVariance of MakespanCSDescription=Clairvoyan...Description=Clairvoyant strategy2026.0365.32.96Ours2026.0368.54.34Ours-GPredictor=GRU-based tr...Predictor=GRU-based trajectory predictor2026.0370.25.43NU2026.0371.812.59Ours-P10Replanning=Periodic ev...Replanning=Periodic every 10s2026.0377.812.67NTP2026.038317.21BnB2026.0387.516.24MILP2026.0394.818.12