场景

MPNet

RRT*

IRRT

MPNet*

Seen

1.43 ± 0.04

46.04 ± 1.02

8.97 ± 0.70

1.21 ± 0.03

Unseen

1.61 ± 0.09

46.15 ± 1.13

9.18 ± 0.81

1.23 ± 0.06