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Benchmarks
Trajectory Planning on UCY Collision Radius 0.5 m
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4.6
Collision Rate
IMLE+MPPI
4.376
5.888
7.4
8.912
Mar 14, 2026
Collision Rate
Goal Error (m)
Path Smoothness (m/s)
Jerk (m/s^3)
Sampling Frequency (CPU, Hz)
Sampling Frequency (GPU, Hz)
Updated 4mo ago
Evaluation Results
Method
Method
Links
Collision Rate
Goal Error (m)
Path Smoothness (m/s)
Jerk (m/s^3)
Sampling Frequency (CPU, Hz)
Sampling Frequency (GPU, Hz)
IMLE+MPPI
Batch Size=64, Collisi...
2026.03
4.6
0.36
0.394
0.479
-
-
CFM
Batch Size=64, Collisi...
2026.03
5.8
0.431
0.623
0.812
-
-
IMLE
Batch Size=64, Collisi...
2026.03
9.8
0.181
0.397
0.458
-
-
MPPI
Batch Size=64, Collisi...
2026.03
10
0.521
0.772
1.746
-
-
CoBL
Batch Size=64, Collisi...
2026.03
10.2
0.05
0.606
1.407
-
-
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