ResearchBenchmarksMotion Planning on Motion Planning Simulation MEDIUM queriesMotion Planning on Motion Planning Simulation MEDIUM queriesFollow210,212.44H-A* Latency (ms)H-A*199,701.818204,957.129210,212.44215,467.751Feb 10, 2026Evaluation resultsMethodMethodLinksH-A* Latency (ms)Framework Latency (ms)AP Latency (ms)A* Latency (ms)SLP Latency (ms)H-A*# of Samples=32, Path...# of Samples=32, Path Length (m)=10-24, # of Corridors=3-112026.02210,212.44————SLP# of Samples=32, Path...# of Samples=32, Path Length (m)=10-24, # of Corridors=3-112026.02————126,101