ResearchBenchmarksContact-Implicit Trajectory Optimization on CITO Push T (test)Contact-Implicit Trajectory Optimization on CITO Push T (test)Follow100Success RateSR89.692.39597.7May 9, 2026Evaluation resultsMethodMethodLinksSuccess RateTracking ErrorIteration CountTime (s)SRhorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.052026.051001.242025.5CRISPhorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.052026.051008.031,24325.73IMPACThorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.05, iteration_type=BCD sweeps2026.051008.486061.03PMhorizon (T)=50, time s...horizon (T)=50, time step (dt)=0.052026.059021.991172.96