ResearchBenchmarksPath Planning on Moving AI Lab CityFollow6,785,300Avg Scanned Vertices (x10^4)Theta*-224,6121,595,2693,415,1505,235,031Jun 30, 2026Evaluation ResultsMethodMethodLinksAvg Scanned Vertices (x10^4)Theta*2026.066,785,300Zeta*-i2026.061,436,400A*Connectivity=32-neighborConnectivity=32-neighbor2026.06874,200A*Connectivity=16-neighborConnectivity=16-neighbor2026.06488,200A*Connectivity=8-neighborConnectivity=8-neighbor2026.06157,600Anya2026.0667,700Zeta*-f2026.0645,000