ResearchBenchmarksConfiguration-space Motion Planning on Arm planning in clutter medConfiguration-space Motion Planning on Arm planning in clutter medFollow96.5Success RateEDMP93.3894.199595.81May 11, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision RateLatency (ms)Violation ProbabilityEDMPModel=EDMP, Accelerati...Model=EDMP, Acceleration Protocol=Full2026.0596.53.5135—MuninnModel=EDMP, Accelerati...Model=EDMP, Acceleration Protocol=Muninn2026.0596.23.7954MPDModel=MPD, Acceleratio...Model=MPD, Acceleration Protocol=Full2026.05946200—MuninnModel=MPD, Acceleratio...Model=MPD, Acceleration Protocol=Muninn2026.0593.56.41184.5