Table 3.

OP-DDPG and Hybrid Model comparison for real-life experiments in the three environments.

Environment	OP-DDPG		Hybrid Model
	SR	NT(s)	SR	NT(s)
1 centered obstacle	90	18.40	100	29.80
3 aligned obstacle	20	34.50	80	40.80
3 obstacles in V-configuration	50	17.85	100	36.20
1 centered obstacle and 1 person	80	28.45	100	29.01