ResearchBenchmarksTrajectory Generation on MeshTrajectory Generation on MeshFollow360Total Training Time (s)ULLA-5,442.5633,724.7272,892112,059.28Apr 20, 2026Evaluation resultsMethodMethodLinksTotal Training Time (s)Simulation Time (s)ULLATraj. length N=50/30Traj. length N=50/302026.043602ULLA-PTraj. length N=100/50Traj. length N=100/502026.0438710.5OLLATraj. length N=100Traj. length N=1002026.046424RDDPMTraj. length N=400Traj. length N=4002026.041,916126RFMTraj. length N=1000Traj. length N=10002026.04145,424112,244