ResearchBenchmarksConstrained Robot Motion Planning on Held-out Environment Wall AngleConstrained Robot Motion Planning on Held-out Environment Wall AngleFollow87.6Success RateTHREAD-0.883222.088445.0668.0316Jun 19, 2026Evaluation resultsMethodMethodLinksSuccess RateTip Distance (m)Collision Rate (%)Path SmoothnessTHREAD2026.0687.60.026.70.01BC+RL2026.0665.50.059750.012Diff Only2026.0645.50.10736.70.014RL2026.0630.30.1131000.101BC Only2026.062.520.350.098