ResearchBenchmarksPlanning on SCANDPlanning on SCANDFollow2.3ATEDR-NWM2.28322.39662.512.6234May 23, 2026Evaluation resultsMethodMethodLinksATEFDERPELPIPSDR-NWMPlanner=CEMPlanner=CEM2026.052.33.990.350.483NWMPlanner=CEMPlanner=CEM2026.052.494.340.370.506DR-NWMPlanner=NMDPlanner=NMD2026.052.694.760.40.454NWMPlanner=NMDPlanner=NMD2026.052.724.820.40.512