ResearchBenchmarksTrajectory Optimization on 2D Car nx=3, nu=2, Tmpc=70 Feasible TrajectoriesTrajectory Optimization on 2D Car nx=3, nu=2, Tmpc=70 Feasible TrajectoriesFollow85Success RateSV-DDP29.15243.65158.1572.649May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath CostSV-DDP2026.058513512.8SV-MPPI2026.0582.515313.2UG-ME-DDP2026.0575.614213.2MG-ME-DDP2026.0574.414513.5MG-MPPI2026.0563.116213.6UG-MPPI2026.0562.515112.9DDP2026.0531.312712.4