ResearchBenchmarksTrajectory Optimization on HumanoidRunFollow1.3385Cumulative Reward per StepPISTO0.3734840.6240170.874551.125083May 8, 2026Evaluation ResultsMethodMethodLinksCumulative Reward per StepRuntime (s)PISTO2026.051.338536.48MPPI2026.050.485112.91CEM2026.050.4106117.62