ResearchBenchmarksMotion Planning on Franka Research 3 Cabinet Environment Half-ClosedMotion Planning on Franka Research 3 Cabinet Environment Half-ClosedFollow100Success RateNFG-4235077May 27, 2026Evaluation resultsMethodMethodLinksSuccess RateOptimization Time (s)Average Jerk (rad/s^3)NFG2026.05100166.1840.4cuRobo2026.05100128.871,177.27BiTRRT2026.0516.70.82—STOMP2026.050——CHOMP2026.050——