ResearchBenchmarksMotion Planning on UR5e Tabletop Setup (Real-world)Motion Planning on UR5e Tabletop Setup (Real-world)Follow93.11Planning Time (s)CE-MPPI89.6664112.9107136.155159.3993Jul 7, 2026Evaluation resultsMethodMethodLinksPlanning Time (s)Collision-Free Success RateEE Path Length (m)CE-MPPI2026.0793.11—0.73MPPI2026.07179.2—0.83