ResearchBenchmarksTrajectory Planning on Unstructured Environment Scenario bFollow7t_STC (s)STC6.656.82577.175Apr 24, 2026Evaluation ResultsMethodMethodLinkst_STC (s)AV1 (s)AV2 (s)AV3 (s)AV4 (s)STCObstacles=✓, N_AV=4Obstacles=✓, N_AV=42026.047————V-STCObstacles=✓, N_AV=4Obstacles=✓, N_AV=42026.04—4.994.976.115.61