ResearchBenchmarksMotion Planning on 7-DOF ManipulatorMotion Planning on 7-DOF ManipulatorFollow88.57Success RatePISTO62.029268.919675.8182.7004May 8, 2026Evaluation resultsMethodMethodLinksSuccess RatePlanning Time (s)Path LengthPath ClearancePISTO2026.0588.570.2378.4210.124NGD2026.0575.760.4998.8380.161STOMP2026.0567.590.4818.4240.113CHOMP2026.0563.050.4988.5190.108