ResearchBenchmarksMotion Planning on Franka Research 3 Cabinet Environment Quarter-ClosedMotion Planning on Franka Research 3 Cabinet Environment Quarter-ClosedFollow100Success RateNFG-4235077May 27, 2026Evaluation resultsMethodMethodLinksSuccess RateOptimization Time (s)Average Jerk (rad/s^3)NFG2026.05100103.68694.06cuRobo2026.0510014.241,219.58BiTRRT2026.0513.30.51—STOMP2026.050——CHOMP2026.050——