ResearchBenchmarks2D navigation on ETH-UCY univ2D navigation on ETH-UCY univFollow0.1Collision RateACP-MPC-1.0646.79314.6522.507Jul 1, 2026Evaluation resultsMethodMethodLinksCollision RateInfeasible RateSteps to GoalControl Time (ms)ACP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.070.156.6—4.56CC-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.076.8——5.5FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=soft2026.0717.4—92.36.93FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=hard2026.0720.457.9283.32.52ECP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.0729.266.4—82.89