ResearchBenchmarksTrajectory Planning on TT2D 4DFollow5.74RewardBSD-fix4.47124.80065.135.4594Apr 1, 2026Evaluation ResultsMethodMethodLinksRewardSafetyBSD-fixTime (ms)=2928Time (ms)=29282026.045.7496MBDTime (ms)=1181Time (ms)=11812026.045.7396BSDTime (ms)=2962Time (ms)=29622026.045.5196NNTime (ms)=<1Time (ms)=<12026.044.5296