Motion Planning on 6-DoF xArm robot in PyBullet Simulation
1,331,893.2Collision Checks CountMPPI
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MPPIRobot=6-DoF xArm, Simulator=PyBullet2025.03 | 1,331,893.2 | 6.83 | 4.97 | — | |
| SDF-RRT-ConnectRobot=6-DoF xArm, Simulator=PyBullet2025.03 | 3,437.4 | 3.11 | 0.04 | 0.55 | |
| CDF-RRTRobot=6-DoF xArm, Simulator=PyBullet2025.03 | 3,415.4 | 3.11 | 0.32 | 0.47 | |
| SDF-RRTRobot=6-DoF xArm, Simulator=PyBullet2025.03 | 3,251.8 | 3.07 | 0.33 | 0.5 | |
| SDF-Lazy-RRTRobot=6-DoF xArm, Simulator=PyBullet2025.03 | 2,741.1 | 3.15 | 0.04 | 0.48 | |
| Bubble-CDFRobot=6-DoF xArm, Simulator=PyBullet2025.03 | 278.5 | 3.04 | 0.11 | 0.08 |