ResearchBenchmarksBimanual Motion Planning on KUKA IIWA Bimanual Bottom to TopBimanual Motion Planning on KUKA IIWA Bimanual Bottom to TopFollow1.37Time (ms)McVAMP-3.451229.091961.63594.1781Apr 14, 2026Evaluation resultsMethodMethodLinksTime (ms)Path CostMcVAMPProjection Stages=2-stepProjection Stages=2-step2026.041.378.28McVAMPProjection Stages=1-stepProjection Stages=1-step2026.042.368.93IK-GCS2026.0477.875.82IK-BiRRT2026.04121.96.26