Trajectory Planning on Experiment Simulation 1
4.46Trajectory Time (s)VP-STO
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| VP-STOT_plan / ms=11400 (offline)2026.02 | 4.46 | 0 | 100 | |
| SafeFlowMPC (Ours)T_plan / ms=62 ± 5, Fine-tuning=true2026.02 | 5.12 | 0 | 86 | |
| Ours w/ NL-OptT_plan / ms=93 ± 178, Optimization strategy=NL-Opt2026.02 | 5.69 | 0 | 87 | |
| FMT_plan / ms=33 ± 22026.02 | 5.77 | 0.08 | 22 | |
| BoundMPCT_plan / ms=35 ± 102026.02 | 6.16 | 0 | 76 | |
| Ours w/o finetuningT_plan / ms=64 ± 5, Fine-tuning=false2026.02 | 6.4 | 0 | 58 | |
| BCT_plan / ms=1 ± 12026.02 | 7.6 | 0.08 | 2 |