ResearchBenchmarksMotion Planning on Franka Research 3 Cabinet Environment Free SpaceFollow100Success RateNFG9597.5100102.5May 27, 2026Evaluation ResultsMethodMethodLinksSuccess RateOptimization Time (s)Average Jerk (rad/s^3)NFG2026.051000.31461.61BiTRRT2026.051000.19—STOMP2026.0510000.82CHOMP2026.051000.1357.62cuRobo2026.051000.011,141.31