ResearchBenchmarksTrajectory Optimization on synthetic box-avoidance scenarioTrajectory Optimization on synthetic box-avoidance scenarioFollow100Success RateNFG16.838.46081.6May 27, 2026Evaluation resultsMethodMethodLinksSuccess RateTimePath LengthAverage JerkNFG2026.051000.7310.0690.91MPPI2026.05600.377.68621.22STOMP2026.05200.6310.6234.67CHOMP2026.05200.0210.8243.52