ResearchBenchmarksTrajectory Optimization on Humanoid StandupTrajectory Optimization on Humanoid StandupFollow17.6Computational Time (s)CEM1.144112.222223.3334.378May 28, 2024Sep 23, 2024Jan 19, 2025May 18, 2025Sep 13, 2025Jan 9, 2026May 8, 2026Evaluation resultsMethodMethodLinksComputational Time (s)Reward (Per Step)Optimized CostCEM2024.0517.6——MPPI2024.0517.7——MBD2024.0517.7——CMA-ES2024.0520.8——MPPI2026.0554.240.529—CEM2026.0555.180.4609—PISTO2026.0565.290.679—RL2024.05429——CEM2026.05——0.876CMA-ES2026.05——0.876DIDA2026.05——0.781MBD2026.05——0.875MPPI2026.05——0.883SA2026.05——0.876