UAV Obstacle Avoidance on UAV Obstacle Avoidance environment 100 trials (test)
97.656Success RateOurs+GRU
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Ours+GRUArchitecture=GRU2026.07 | 97.656 | — | — | — | |
| OursArchitecture=Non-recurrent2026.07 | 96.875 | — | — | — | |
| Ours+LSTMArchitecture=LSTM2026.07 | 95.313 | — | — | — | |
| MA-MPPICompute Time (ms)=12.62025.09 | 94.3 | 1.12 | 0.27 | 87.5 | |
| TD32026.07 | 92.969 | — | — | — | |
| PPO+LSTMRecurrent Architecture=LSTM2026.07 | 87.5 | — | — | — | |
| SAC2026.07 | 86.719 | — | — | — | |
| PPO+GRURecurrent Architecture=GRU2026.07 | 85.938 | — | — | — | |
| PPO2026.07 | 83.594 | — | — | — | |
| Motion TransformerCompute Time (ms)=22.72025.09 | 83.5 | 1.24 | 0.29 | 63.1 | |
| Diffusion PolicyCompute Time (ms)=18.42025.09 | 79.6 | 1.37 | 0.31 | 56.8 | |
| DKO-based MPCCompute Time (ms)=15.82025.09 | 76.4 | 1.31 | 0.38 | 49.3 | |
| Standard MPPICompute Time (ms)=10.22025.09 | 72.8 | 1.45 | 0.34 | 34.2 | |
| MLP-based MPCCompute Time (ms)=14.32025.09 | 68.2 | 1.53 | 0.42 | 41.9 |