ResearchBenchmarksBimanual Motion Planning on KUKA IIWA Bimanual Middle to BottomBimanual Motion Planning on KUKA IIWA Bimanual Middle to BottomFollow3.49Time (ms)McVAMP0.025223.412646.870.1874Apr 14, 2026Evaluation resultsMethodMethodLinksTime (ms)Path CostMcVAMPProjection Stages=2-stepProjection Stages=2-step2026.043.497.69McVAMPProjection Stages=1-stepProjection Stages=1-step2026.043.536.08IK-GCS2026.0444.184.73IK-BiRRT2026.0490.115.64