ResearchBenchmarksMotion Planning on Spline-based motion planning scenarios 7 obstaclesMotion Planning on Spline-based motion planning scenarios 7 obstaclesFollow70.77Time (Wall) (ms)SVM66.856493.2732119.69146.1068Mar 25, 2026Evaluation resultsMethodMethodLinksTime (Wall) (ms)Time (LS) (ms)Time (QP) (ms)Count (I)Epsilon Move (Median) (%)Epsilon Move (Std Dev) (%)Success Rate (%)Reduction (%)SVM2026.0370.770.612.29183220.6687.558.03LSR2026.03168.61——24——100—