ResearchBenchmarks2D navigation on ETH-UCY zara22D navigation on ETH-UCY zara2Follow0.056Collision RateCC-MPC0.047760.103380.1590.21462Jul 1, 2026Evaluation resultsMethodMethodLinksCollision RateInfeasible RateSteps to GoalLatency (ms)CC-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.070.056——1.27ECP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.070.1760.318—52.62FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=hard2026.070.1810.41921.11FCP-MPCsampler seeds=10 MPPI,...sampler seeds=10 MPPI, variant=soft2026.070.189—652.14ACP-MPCsampler seeds=10 MPPIsampler seeds=10 MPPI2026.070.2620.628941.15