ResearchBenchmarksBimanual Motion Planning on KUKA IIWA Bimanual Top to MiddleBimanual Motion Planning on KUKA IIWA Bimanual Top to MiddleFollow1.65Time (ms)McVAMP-2.153623.520749.19574.8693Apr 14, 2026Evaluation resultsMethodMethodLinksTime (ms)Path CostMcVAMPProjection Stages=2-stepProjection Stages=2-step2026.041.657.62McVAMPProjection Stages=1-stepProjection Stages=1-step2026.042.117.72IK-GCS2026.0463.472.52IK-BiRRT2026.0496.743.69