ResearchBenchmarksTrajectory Optimization on 2D Car (nx=3, nu=2, Tmpc=70) [All Trajectories]Trajectory Optimization on 2D Car (nx=3, nu=2, Tmpc=70) [All Trajectories]Follow95Success RateSV-DDP28.75245.95163.1580.349May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath DeviationConstraint ViolationSV-DDP2026.059513812.92.68SV-MPPI2026.0582.515313.21—MG-ME-DDP2026.0581.314713.61.56UG-ME-DDP2026.058014313.34.74MG-MPPI2026.0563.116213.62—UG-MPPI2026.0562.515112.86—DDP2026.0531.312712.4—