ResearchBenchmarksTrajectory Optimization on Ant (nx=29, nu=8, Tmpc=40) [Feasible Trajectories]Follow82Success RateMG-ME-DDP17.5234.265167.74May 30, 2026Evaluation ResultsMethodMethodLinksSuccess RateTimePath CostMG-ME-DDP2026.058211211SV-DDP2026.058011911.5UG-ME-DDP2026.055513411.1MG-MPPI2026.055465.69.34UG-MPPI2026.055373.29.79SV-MPPI2026.0548669.39DDP2026.052017410.8