Trajectory Planning on Gap-crossing Scenario 200 trials (test)
92.5Success Ratehierarchical trajectory planning framework
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| hierarchical trajectory planning frameworkmode=full system2026.02 | 92.5 | 9.01 | 1.66 | 2.84 | 0.302 | 10.2 | 0.601 | |
| hierarchical trajectory planning framework (w/o PC)Ablation=without parallel computation2026.02 | 92 | 24.2 | 4.3 | 2.87 | 0.417 | 10.3 | 0.667 | |
| hierarchical trajectory planning framework (w/o LP)Ablation=without local planning2026.02 | 14 | 0.307 | 0.024 | — | — | — | — | |
| DK-based plannerAlgorithm=DK2026.02 | 13 | 0.058 | 0.003 | — | — | — | — | |
| hierarchical trajectory planning framework (w/o AS)Ablation=without global anchor states2026.02 | 0 | — | — | — | — | — | — |