ResearchBenchmarksContact-Implicit Trajectory Optimization on CITO Cart Transport (test)Contact-Implicit Trajectory Optimization on CITO Cart Transport (test)Follow100Success RateSR9597.5100102.5May 9, 2026Evaluation resultsMethodMethodLinksSuccess RateTracking ErrorIterationsSolve Time (s)SRhorizon (T)=300, time...horizon (T)=300, time step (dt)=0.022026.05100433.082615.63PMhorizon (T)=300, time...horizon (T)=300, time step (dt)=0.022026.05100408.65872CRISPhorizon (T)=300, time...horizon (T)=300, time step (dt)=0.022026.05100235.15012.72IMPACThorizon (T)=300, time...horizon (T)=300, time step (dt)=0.02, iteration_type=BCD sweeps2026.05100381.891010.08