ResearchBenchmarksTrajectory Optimization on Barkour-Decouple-Position-Yaw All TrajectoriesTrajectory Optimization on Barkour-Decouple-Position-Yaw All TrajectoriesFollow95Success RateUG-MPPI56.5266.5176.586.49May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath CostConstraint ViolationUG-MPPI2026.05952376.29—SV-MPPI2026.05712766.25—MG-MPPI2026.05582506.26—