ResearchBenchmarksMotion Planning under Joint Failure on Simulation Velocity FailureMotion Planning under Joint Failure on Simulation Velocity FailureFollow70.8Success RateDEFT30.96841.30951.6561.991Feb 2, 2026Evaluation resultsMethodMethodLinksSuccess RateDEFT2026.0270.8Baseline (RRT)2026.0232.5