ResearchBenchmarksTrajectory Optimization on Barkour nx=37, nu=12, Tmpc=50 Feasible TrajectoriesTrajectory Optimization on Barkour nx=37, nu=12, Tmpc=50 Feasible TrajectoriesFollow91Success RateSV-DDP6.7628.6350.572.37May 30, 2026Evaluation resultsMethodMethodLinksSuccess RateComputation TimePath DeviationSV-DDP2026.05913236.31UG-ME-DDP2026.05803116.24MG-ME-DDP2026.05602826.36SV-MPPI2026.05433436.29UG-MPPI2026.05352916.14MG-MPPI2026.05302456.08DDP2026.05104486.02