ResearchBenchmarksTrajectory Generation on WaveFollow1.04WCTARDM0.79042.47524.165.8448May 28, 2026Evaluation ResultsMethodMethodLinksWCTWIMARDMSteps (s)=10Steps (s)=102026.051.046ARDMSteps (s)=40Steps (s)=402026.051.119.85ARDMSteps (s)=5Steps (s)=52026.052.131.04ARDMSteps (s)=2Steps (s)=22026.052.499.11Stochastic LiftingSteps (s)=1Steps (s)=12026.054.532.06ARDMSteps (s)=20Steps (s)=202026.057.281.06