ResearchBenchmarksMotion Planning on BEHAVIOR HSR 1488 samples (test)Follow5.01Motion Completion Time (sec)RLP4.92165.51836.1156.7117Feb 24, 2026Evaluation ResultsMethodMethodLinksMotion Completion Time (sec)Plan to Motion Delay (sec)Motion Duration (sec)RobustnessCollision RateRLPPeriodicity=YesPeriodicity=Yes2026.025.010.464.550.7310AIT*Periodicity=NoPeriodicity=No2026.025.280.454.830.520CBiRRT2Periodicity=NoPeriodicity=No2026.027.222.324.90.3710