ResearchBenchmarksTrajectory Optimization on Hopper (Reward and Runtime)Trajectory Optimization on Hopper (Reward and Runtime)Follow1.2645Reward (Per Step)PISTO0.6702440.8245220.97881.133078May 8, 2026Evaluation resultsMethodMethodLinksReward (Per Step)Runtime (s)PISTO2026.051.264549.13MPPI2026.050.919558.53CEM2026.050.693158.76