ResearchBenchmarksConfiguration-space motion planning on Arm planning in clutter hardConfiguration-space motion planning on Arm planning in clutter hardFollow88Success RateEDMP80.92882.76484.686.436May 11, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateLatency (ms)Probability of Constraint ViolationEDMPModel=EDMP, Accelerati...Model=EDMP, Acceleration Protocol=Full2026.058812160—MuninnModel=EDMP, Accelerati...Model=EDMP, Acceleration Protocol=Muninn2026.0587.512.41070.044MPDModel=MPD, Acceleratio...Model=MPD, Acceleration Protocol=Full2026.058218230—MuninnModel=MPD, Acceleratio...Model=MPD, Acceleration Protocol=Muninn2026.0581.218.81210.048