Per-scenario, on the real robot
The full table behind the deployment numbers. Best in each comparison is bold.
| Scenario | Method | n | Goal reached ↑ | Collision ↓ | Steps | Smoothness ↓ | Final dist (m) ↓ |
|---|
Goal reached & collision in %. Smoothness = total variation of yaw rate (lower is smoother). Sequential is a two-leg 5 m goal. n = number of trials.