ResearchBenchmarksConfiguration-space motion planning on Arm planning in clutter easyConfiguration-space motion planning on Arm planning in clutter easyFollow99.5Success RateEDMP98.77298.96199.1599.339May 11, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateLatency (ms)P(Violation)EDMPModel=EDMP, Accelerati...Model=EDMP, Acceleration Protocol=Full2026.0599.50.5120—MuninnModel=EDMP, Accelerati...Model=EDMP, Acceleration Protocol=Muninn2026.0599.40.6923.5MPDModel=MPD, Acceleratio...Model=MPD, Acceleration Protocol=Full2026.05991180—MuninnModel=MPD, Acceleratio...Model=MPD, Acceleration Protocol=Muninn2026.0598.81.21204