ResearchBenchmarksTrajectory Planning on AccTT2D 6DFollow5.38RewardMBD2.9883.6094.234.851Apr 1, 2026Evaluation ResultsMethodMethodLinksRewardSafetyMBDTime (ms)=4691Time (ms)=46912026.045.3890BSD-fixTime (ms)=6903Time (ms)=69032026.045.0186BSDTime (ms)=6780Time (ms)=67802026.044.6486NNTime (ms)=<1Time (ms)=<12026.043.0892