ResearchBenchmarksVisual-goal motion planning on UR5e Robot EnvironmentVisual-goal motion planning on UR5e Robot EnvironmentFollow0.5Path Length (0.5 rad)RRT*0.4750.48750.50.5125Mar 27, 2026Evaluation resultsMethodMethodLinksPath Length (0.5 rad)Path Length (1.0 rad)Path Length (1.5 rad)Path Length (2.0 rad)Path Length (2.5 rad)Average Path LengthRRT*Goal Configuration Sou...Goal Configuration Source=Dr.Robot [30]2026.030.51.021.5222.551.52RRT*Goal Configuration Sou...Goal Configuration Source=vRRT2026.030.51.011.552.12.591.55