ResearchBenchmarksMotion Planning under Task Constraints on Simulation UnconstrainedMotion Planning under Task Constraints on Simulation UnconstrainedFollow99.58Success RateDEFT40.112855.551470.9986.4286Feb 2, 2026Evaluation resultsMethodMethodLinksSuccess RateDEFT2026.0299.58Baseline (RRT)2026.0242.4