ResearchBenchmarksRobotic Planning on Maze2D static obstacles (100 samples)Robotic Planning on Maze2D static obstacles (100 samples)Follow100SafetyMPPI36.5653.0369.585.97May 20, 2026Evaluation resultsMethodMethodLinksSafetyViolation RateSuccess RateMPPITime=242.4, Steps=30Time=242.4, Steps=302026.05100041MPPI + g^carTime=265.8, Steps=30Time=265.8, Steps=302026.05100098GLASS-FKSTime=532.7Time=532.72026.057830100g^carTime=168.4, Steps=4Time=168.4, Steps=42026.0574079PCGradTime=175.2Time=175.22026.05442027g^cov-GTime=150.0Time=150.02026.05393016