ResearchBenchmarksTrajectory Optimization on 2D Car (nx=4, nu=2, Tmpc=50) [Feasible Trajectories]Trajectory Optimization on 2D Car (nx=4, nu=2, Tmpc=50) [Feasible Trajectories]Follow81.9Success RateSV-DDP38.32449.63760.9572.263May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath CostSV-DDP2026.0581.913612.5MG-ME-DDP2026.0581.220112.5SV-MPPI2026.0578.117513.7UG-ME-DDP2026.0566.314912.4UG-MPPI2026.055015713.6MG-MPPI2026.0545.615613.6DDP2026.054011811.6