ResearchBenchmarksTrajectory Optimization on 2D Car (nx=4, nu=2, Tmpc=50) [All Trajectories]Trajectory Optimization on 2D Car (nx=4, nu=2, Tmpc=50) [All Trajectories]Follow93.8Success RateSV-DDP37.84852.37466.981.426May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath DeviationConstraint ViolationSV-DDP2026.0593.813812.62.44MG-ME-DDP2026.0589.420112.52.16SV-MPPI2026.0578.117513.65—UG-ME-DDP2026.0575.615312.61.96UG-MPPI2026.055015713.6—MG-MPPI2026.0545.615613.56—DDP2026.054011811.6—