ResearchBenchmarksTrajectory Optimization on Barkour-Decouple-Position-Yaw Feasible TrajectoriesFollow95Success RateUG-MPPI56.5266.5176.586.49May 30, 2026Evaluation ResultsMethodMethodLinksSuccess RateTimePath LengthUG-MPPI2026.05952376.29SV-MPPI2026.05712766.25MG-MPPI2026.05582506.26