ResearchBenchmarksTrajectory Optimization on Barkour nx=37 nu=12 Tmpc=50 All TrajectoriesTrajectory Optimization on Barkour nx=37 nu=12 Tmpc=50 All TrajectoriesFollow92Success RateSV-DDP27.5244.266177.74May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateComputation TimePath CostConstraint ViolationSV-DDP2026.05923246.327.95UG-ME-DDP2026.05813116.259.13MG-ME-DDP2026.05762886.381.56SV-MPPI2026.05433346.29—UG-MPPI2026.05353916.14—DDP2026.05304586.41.21MG-MPPI2026.05302456.08—