ResearchBenchmarksWhole-body Trajectory Planning on Franka MM tabletop scenario (val)Whole-body Trajectory Planning on Franka MM tabletop scenario (val)Follow4.2Motion Completion Time (s)RLP4.0784.90155.7256.5485Feb 24, 2026Evaluation resultsMethodMethodLinksMotion Completion Time (s)Plan to Motion Delay (s)Motion Duration (s)RobustnessCollision Rate (Motion)Motion Completion RateRLPPeriodicity=YesPeriodicity=Yes2026.024.20.363.84900.199.5MπNetsPeriodicity=YesPeriodicity=Yes2026.027.250.017.24871.156.9