ResearchBenchmarksTrajectory Optimization on Ant nx=29, nu=8, Tmpc=40 All TrajectoriesFollow83Success RateMG-ME-DDP17.4834.4951.568.51May 30, 2026Evaluation ResultsMethodMethodLinksSuccess RateTimePath Deviation ScoreConstraint ViolationMG-ME-DDP2026.058311310.62.5SV-DDP2026.058011911.5—UG-ME-DDP2026.055713811.16.49MG-MPPI2026.055465.69.34—UG-MPPI2026.055373.29.79—SV-MPPI2026.0548669.39—DDP2026.052017410.8—