ResearchBenchmarksRobotic Planning on Maze2D hybrid composition (100 samples)Follow95Safety ScoreMPPI + g^car31.5648.0364.580.97May 20, 2026Evaluation ResultsMethodMethodLinksSafety ScoreViolation RateSuccess RateMPPI + g^carSteps=30Steps=302026.05950.292GLASS-FKS2026.05680.5100MPPISteps=30Steps=302026.05470.469g^carSteps=4Steps=42026.05430.336PCGrad2026.05350.918g^cov-G2026.05341.112