ResearchBenchmarksTrajectory Optimization on Ant (Optimized Cost)Follow0.032Optimized CostDIDA-0.001880.226810.45550.68419May 15, 2026Evaluation ResultsMethodMethodLinksOptimized CostDIDA2026.050.032MBD2026.050.073CEM2026.050.649MPPI2026.050.748SA2026.050.834CMA-ES2026.050.879