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Benchmarks
Trajectory Planning on UCY Collision Radius 0.7 m
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125
Sampling Frequency (CPU) (Hz)
MPPI
-4.5736
29.0657
62.705
96.3443
Mar 14, 2026
Sampling Frequency (CPU) (Hz)
Collision Rate
Goal Error (m)
Path Smoothness (m/s)
Jerk (m/s^3)
Sampling Frequency (GPU) (Hz)
Updated 4mo ago
Evaluation Results
Method
Method
Links
Sampling Frequency (CPU) (Hz)
Collision Rate
Goal Error (m)
Path Smoothness (m/s)
Jerk (m/s^3)
Sampling Frequency (GPU) (Hz)
MPPI
Batch Size=64, Collisi...
2026.03
125
16.4
0.57
0.76
1.781
142.86
IMLE
Batch Size=64, Collisi...
2026.03
76.92
20.6
0.186
0.394
0.461
111.11
IMLE+MPPI
Batch Size=64, Collisi...
2026.03
52.63
-
-
-
-
83.33
CFM
Batch Size=64, Collisi...
2026.03
2.65
28.4
0.073
0.612
0.74
4.3
CoBL
Batch Size=64, Collisi...
2026.03
0.41
22.2
0.048
0.605
1.396
0.71
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