ResearchBenchmarksRobotic Planning on Maze2D dynamic obstacles (100 samples)Robotic Planning on Maze2D dynamic obstacles (100 samples)Follow96Safety ScoreMPPI + g^car36.7252.1167.582.89May 20, 2026Evaluation resultsMethodMethodLinksSafety ScoreViolation RateSuccess RateMPPI + g^carSteps=30Steps=302026.05961094GLASS-FKS2026.057140100MPPISteps=30Steps=302026.05585063g^carSteps=4Steps=42026.05492061PCGrad2026.05417046g^cov-G2026.05399042