# Benchmarks


## Circle Tasks

![Ball](./figures/benchmarks/exp_SafetyBallCircle.png)

![Car](./figures/benchmarks/exp_SafetyCarCircle.png)

![Drone](./figures/benchmarks/exp_SafetyDroneCircle.png)

![Ant](./figures/benchmarks/exp_SafetyAntCircle.png)


## Gather Tasks

![Ball](./figures/benchmarks/exp_SafetyBallGather.png)

![Car](./figures/benchmarks/exp_SafetyCarGather.png)

![Drone](./figures/benchmarks/exp_SafetyDroneGather.png)

![Ant](./figures/benchmarks/exp_SafetyAntGather.png)

## Reach Tasks

![Ball](./figures/benchmarks/exp_SafetyBallReach.png)

![Car](./figures/benchmarks/exp_SafetyCarReach.png)

![Drone](./figures/benchmarks/exp_SafetyDroneReach.png)

![Ant](./figures/benchmarks/exp_SafetyAntReach.png)

## Run Tasks

![Ball](./figures/benchmarks/exp_SafetyBallRun.png)

![Car](./figures/benchmarks/exp_SafetyCarRun.png)

![Drone](./figures/benchmarks/exp_SafetyDroneRun.png)

![Ant](./figures/benchmarks/exp_SafetyAntRun.png)