ResearchBenchmarksInverse Kinematics on Mobile Manipulator (Average optimal cost)Inverse Kinematics on Mobile Manipulator (Average optimal cost)Follow3.44Average Optimal CostNLOPT2.99446.00229.0112.0178Feb 4, 2026Evaluation resultsMethodMethodLinksAverage Optimal CostNLOPTFormulation=OldFormulation=Old2026.023.44SNOPTFormulation=OldFormulation=Old2026.026.81IPOPTFormulation=OldFormulation=Old2026.027.28IPOPTFormulation=NewFormulation=New2026.028.46NLOPTFormulation=NewFormulation=New2026.028.62SNOPTFormulation=NewFormulation=New2026.0210.8Sampling2026.0214.58