ResearchBenchmarksMulti-arm cooperative formation control on MuJoCo Four-arm SimulationFollow3.06Time per step (ms)HET-CBF-7.185661.9722131.13200.2878Mar 6, 2026Evaluation ResultsMethodMethodLinksTime per step (ms)Safety ScorePosition Error (Ep)Orientation Error (EΘ)HET-CBF2026.033.06—0.008—D-CBF2026.033.32—0.011—NMPC2026.0342.03—0.036—MPPI2026.03259.2—0.01—