ResearchBenchmarksConstrained Robot Motion Planning on Held-out Environment Wall DistanceConstrained Robot Motion Planning on Held-out Environment Wall DistanceFollow0.888Success RateTHREAD-0.0241840.2126330.449450.686267Jun 19, 2026Evaluation resultsMethodMethodLinksSuccess RateTip Distance (m)Collision RateTrajectory SmoothnessTHREAD2026.060.8880.0190.10.01BC+RL2026.060.6660.0740.6660.103Diff Only2026.060.5550.080.250.018RL2026.060.2890.0830.7760.057BC Only2026.060.01090.1110.150.091