ResearchBenchmarksRobotic Planning on Maze2D static goal (100 samples)Robotic Planning on Maze2D static goal (100 samples)Follow100SafetyMPPI + g^car38.6454.5770.586.43May 20, 2026Evaluation resultsMethodMethodLinksSafetyViolationsSuccess RateMPPI + g^carSteps=30Steps=302026.05100096g^carSteps=4Steps=42026.05630.872MPPISteps=30Steps=302026.05621.569GLASS-FKS2026.05560.6100PCGrad2026.05471.532g^cov-G2026.05411.723