ResearchBenchmarksTrajectory Optimization on 8x8m Open Environment Goal (6, -4)Follow100Success Rate (SR)MPPI9597.5100102.5Apr 13, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Optimization TimeMPPI2026.041000.3MoG-MPPI2026.041000.7SV-MPC2026.041000.6UGE-MPC2026.041000.1