ResearchBenchmarks2D Navigation on ETH-UCY zara12D Navigation on ETH-UCY zara1Follow4.1Collision RateCC-MPC3.2888.76914.2519.731Jul 1, 2026Evaluation resultsMethodMethodLinksCollision RateInfeasible RateSteps to GoalControl Time (ms)CC-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.074.1—901.03ECP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.079.416.18249.3ACP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.0718.857.3—0.9FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=soft2026.0719.1—381.8FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=hard2026.0724.467.9810.78