CBF Playground

⚠️ Collision detected!

Click canvas to set goal or add obstacle

Obstacles: 0

Update Rate

Rate (s) 3.0

Select Constraint

Crowd Navigation Environment

Single-integrator PPO + GNN navigation with optional CBF-QP filtering

Collision

Click anywhere to restart.

Click to place a goal. Use the mouse wheel to zoom, and right-drag to pan.

GNN selected CBF-QP active Added obstacle

Obstacles: 0 Zoom: 1.00x

Obstacle Speed Cap 1.50 m/s Random Obstacle Count 20

Diagnostics