ResearchBenchmarksTrajectory Optimization on halfcheetahFollow0.414Optimized CostDIDA0.390640.548320.7060.86368May 15, 2026Evaluation ResultsMethodMethodLinksOptimized CostDIDA2026.050.414MBD2026.050.906MPPI2026.050.924CMA-ES2026.050.995SA2026.050.997CEM2026.050.998