ResearchBenchmarksTrajectory Optimization on 8x8m Cluttered Environment Goal (6, -4)Trajectory Optimization on 8x8m Cluttered Environment Goal (6, -4)Follow100Success Rate (SR)MPPI9597.5100102.5Apr 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Computation TimeMPPI2026.041000.4MoG-MPPI2026.041001.2SV-MPC2026.041001.3UGE-MPC2026.041000.1