ResearchBenchmarksTrajectory Planning on Environment E2Follow3.326Path Length (m)Base3.319683.362343.4053.44766Mar 10, 2026Evaluation ResultsMethodMethodLinksPath Length (m)Mean Jerk (m/s^3)Collision CountRelative Performance MetricReduction PercentageBase2026.033.3261.63———WESPR2026.033.4841.23———