I can't find any benchmarks, but here's an example of the sort of approach I was talking about: https://www.researchgate.net/publication/355761412_Path_plannin

I can't find any benchmarks, but here's an example of the sort of approach I was talking about: https://www.researchgate.net/publication/355761412_Path_planning_in_an_unknown_environment_based_on_deep_reinforcement_learning_with_prior_knowledge https://www.researchgate.net/publication/355761412_Path_plan... GOFAI techniques are: A) Usually unable to incorporate posteri knowledge of the environments they're working on. And B) Often entirely infeasible to adapt to take exploration costs into account. I've heard of some GOFAI techniques for optimal unbiased pathfinding in unknown environments using optimal transport theory and the like. But unbiased methods are obviously going to lose out in real environments.