Table 2 Ablation study—Component impact on navigation.

From: Autonomous navigation in unstructured outdoor environments using semantic segmentation guided reinforcement learning

Configuration

Success rate (%)

Avg. collisions

IoU (trail)

Full model (ours)

86.7

0.2

0.87

Without SAC (rule-based)

71.1

0.6

0.87

Without mask R-CNN (color seg.)

63.4

1.1

0.48

Without pure pursuit

74.5

0.5

0.87

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