ResearchBenchmarks2D Navigation on ETH-UCY hotel2D Navigation on ETH-UCY hotelFollow2Collision RateECP-MPC1.8083.1044.45.696Jul 1, 2026Evaluation resultsMethodMethodLinksCollision RateInfeasible RateSteps to GoalControl Time (ms)ECP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.07221.385.752.7ACP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.074.142.880.31.3FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=soft2026.074.5—35.72.03CC-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.074.9—99.31.45FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=hard2026.076.835.779.71.3