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Benchmarks
Single-arm Motion Planning on cage single-arm planning scene
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96
Success Rate
DRAFTO-GN
-3.84
22.08
48
73.92
Mar 10, 2026
Success Rate
Avg Planning Time
Max Planning Time
Avg Path Roughness
Max Path Roughness
Updated 4mo ago
Evaluation Results
Method
Method
Links
Success Rate
Avg Planning Time
Max Planning Time
Avg Path Roughness
Max Path Roughness
DRAFTO-GN
2026.03
96
0.031
0.167
86.9
112
DRAFTO
2026.03
96
0.03
0.218
87.2
118.3
FACTO
2026.03
95
0.134
1.338
91.1
154.5
RRT-C
2026.03
92
3.779
10.006
386.3
1,322.5
GPMP2
2026.03
82
0.213
1.545
48.2
107.4
CHOMP
2026.03
19
0.155
0.235
47.9
55.3
PRM
2026.03
17
4.538
9.904
139.5
435.9
TrajOpt
2026.03
0
-
-
-
-
RRT*
2026.03
0
-
-
-
-
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