ResearchBenchmarksClosed-loop MPC on Leaning bicycle 3x3 scenario grid v and kappa sweep v1.0 (test)Follow100Safety RateNo margin9597.5100102.5May 10, 2026Evaluation ResultsMethodMethodLinksSafety RateTracking Error (cm)Error Ratio to TubeSolver Time (ms)No margin2026.05100006.2Tube2026.051005.81006.6Adaptive2026.051001.8316.7MACT2026.051003.8667