ResearchBenchmarksTrajectory Planning on NTrailer 5DFollow5.48RewardMBD4.22164.54834.8755.2017Apr 1, 2026Evaluation ResultsMethodMethodLinksRewardSafetyMBDTime (ms)=2458Time (ms)=24582026.045.4890BSD-fixTime (ms)=4768Time (ms)=47682026.045.4890BSDTime (ms)=4731Time (ms)=47312026.045.0690NNTime (ms)=<1Time (ms)=<12026.044.2790