ResearchBenchmarksTrajectory Optimization on humanoid trackFollow0.845Optimized CostDIDA0.836920.891460.9461.00054May 15, 2026Evaluation ResultsMethodMethodLinksOptimized CostDIDA2026.050.845MBD2026.050.914CEM2026.051.015SA2026.051.022CMA-ES2026.051.022MPPI2026.051.047