ResearchBenchmarksTrajectory Optimization on 8x8m Cluttered Environment Goal (6, 0)Trajectory Optimization on 8x8m Cluttered Environment Goal (6, 0)Follow100Success Rate (SR)MPPI9597.5100102.5Apr 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Computation TimeMPPI2026.041000.2MoG-MPPI2026.041000.6SV-MPC2026.041000.4UGE-MPC2026.041000.1