ResearchBenchmarksTrajectory Planning on Bicycle 3DFollow5.95RewardMBD4.98285.23395.4855.7361Apr 1, 2026Evaluation ResultsMethodMethodLinksRewardSafety ComplianceMBDTime (ms)=687Time (ms)=6872026.045.95100BSD-fixTime (ms)=2585Time (ms)=25852026.045.95100BSDTime (ms)=2876Time (ms)=28762026.045.63100NNTime (ms)=<1Time (ms)=<12026.045.02100