# Maps X Eval

> Evaluates the performance of explainable multi-robot motion planning algorithms (MAPS-X and Lazy MAPS-X) combined with sampling-based planners like RRT* across custom environments. It measures the trade-off between planning efficiency (runtime, success rate) and explainability (number of trajectory segments), highlighting how segmentation constraints impact computational cost and plan optimality. Use when the user wants to benchmark on MAPS-X custom environments, or asks about evaluating this task. Reports Runtime(s).

- Skill: `qhjqhj00/maps-x-eval` (Agent Skill)
- Install (CLI): `npx skillmds add qhjqhj00/maps-x-eval`
- Raw SKILL.md: https://api.skillmd.com/api/skills/qhjqhj00/maps-x-eval/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Productivity
- Author: qhjqhj00 (https://skillmd.com/u/qhjqhj00)
- Updated: 2026-09-08
- Page: https://skillmd.com/skills/qhjqhj00/maps-x-eval

---


# maps-x-eval

> MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation — Kottinger et al. (2020) (arXiv:2010.16106, 2020)

## What this evaluates

Evaluates the performance of explainable multi-robot motion planning algorithms (MAPS-X and Lazy MAPS-X) combined with sampling-based planners like RRT* across custom environments. It measures the trade-off between planning efficiency (runtime, success rate) and explainability (number of trajectory segments), highlighting how segmentation constraints impact computational cost and plan optimality.

## Datasets

- **MAPS-X custom environments** — total ?; splits: (unstated); repo https://github.com/aria-systems-group/MAPS-X

## Metrics

- `Runtime(s)` **(primary)** — range: seconds
  - Total computation time per planning run in seconds. Reported as mean ± standard deviation over 200 runs.
- `Ave.Cost` — range: other
  - Average plan cost (e.g., path length or makespan) across successful runs.
- `# Solns.Found (%)` — range: percent
  - Success rate, calculated as the percentage of runs that found a valid collision-free plan within the time limit.
- `SegmentTime (s)` — range: seconds
  - Time spent specifically on computing the trajectory segmentation for explainability.

## Input / output format

**Input**: Environment configuration (space type, agent dynamics, number of agents), start/goal states, and maximum allowed time (30s or 100s).

**Output**: Planned trajectory (collision-free path for each agent), segmented into disjoint time intervals for explainability.

## Scoring recipe

```python
def compute_metrics(runs):
    metrics = {'Runtime(s)': [], 'Ave.Cost': [], '# Solns.Found (%)': 0, 'SegmentTime (s)': []}
    for run in runs:
        metrics['Runtime(s)'].append(run.runtime)
        metrics['SegmentTime (s)'].append(run.segment_time)
        if run.success:
            metrics['Ave.Cost'].append(run.cost)
            metrics['# Solns.Found (%)'] += 1
    metrics['# Solns.Found (%)'] = (metrics['# Solns.Found (%)'] / len(runs)) * 100
    return {k: (mean(v), std(v)) for k, v in metrics.items() if isinstance(v, list)}
```

## Common pitfalls

- The time limit varies by environment (30s for Open, 100s for Congested/Corridor/Hallway), which heavily influences success rates and must be explicitly stated when comparing results.
- Runtime(s) measures total wall-clock time, while RuntimeSuccess (s) only averages over successful runs; confusing them leads to incorrect performance assessments.
- The segmentation bound r drastically affects Lazy MAPS-X's pruning frequency and runtime, making direct comparisons with r=∞ or MAPS-RRT misleading without context.

## Evidence (verbatim from paper)

> The benchmarking results are shown in Table I. TABLE I: Benchmark results with 200 runs. The two character dynamics are $1^{st}$- and $2^{nd}$- order Linear, Unicycle, and Car, respectively. The maximum allowed time was $30s$ for rows 1-4, and $100s$ for rows 5-17. The mean and standard deviation over all planning runs are shown for columns 7-11. | Runtime(s) | RuntimeSuccess (s) | Ave.Cost | SegmentTime (s) | States addedper sec. |

## Citation

```bibtex
@misc{kottinger2020mapsx,
  title={MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation},
  author={Kottinger et al. (2020)},
  year={2020},
  note={arXiv:2010.16106}
}
```

- arXiv: 2010.16106