ResearchBenchmarksTrajectory Optimization on 8x8m Open Environment Goal (6, 0)Trajectory Optimization on 8x8m Open Environment Goal (6, 0)Follow100Success RateMPPI9597.5100102.5Apr 13, 2026Evaluation resultsMethodMethodLinksSuccess RateOptimization TimeMPPI2026.041000.2MoG-MPPI2026.041000.3SV-MPC2026.041000.4UGE-MPC2026.041000.1