ResearchBenchmarksTrajectory Optimization on Hopper (Optimized Cost)Follow0.623Optimized CostDIDA0.610760.693380.7760.85862May 15, 2026Evaluation ResultsMethodMethodLinksOptimized CostDIDA2026.050.623MBD2026.050.749MPPI2026.050.855CEM2026.050.861SA2026.050.924CMA-ES2026.050.929