ResearchBenchmarksMotion Planning on Partially Random SpheresMotion Planning on Partially Random SpheresFollow0.066Time (s)CAMPD-0.057960.778771.61552.45223Oct 16, 2025Evaluation resultsMethodMethodLinksTime (s)Success Rate (%)Failure to Reach Rate (%)Boundary Success Deviation (%)VarianceCAMPDNbatch=100, w=1.5Nbatch=100, w=1.52025.100.06690.773.3-361.7MPDNbatch=100Nbatch=1002025.103.16580.759.6—4.8