| Static | Corridor | Glass | Dynamic | |
|---|---|---|---|---|
| Duration (min) | 16 | 7.5 | 6.5 (5) | 7.5 |
| Distance (m) | 471 | 240 | 225 (120) | 201 |
| Interventions | 9 | 1 | 5 (11) | 6 |
| Interventions/min | 0.56 | 0.13 | 0.77 (2.2) | 0.80 |
| Autonomous time % | 97.2 | 99.3 | 96.2 (89.0) | 96.0 |
| Classic baselines (effective speed): autonomous time % | ||||
| Ours (30.3 m/min) | 97.2 | 99.3 | 96.2 | 96.0 |
| VFH+ (14.5 m/min) | 83.9 | 87.2 | 79.4 | 93.3 |
| MPPI (25.4 m/min) | 75.6 | 91.1 | 80.4 | 96.0 |
| Glass column: values in parentheses are w/o DINOv3. | ||||