ResearchBenchmarksTrajectory Optimization on Walker2DTrajectory Optimization on Walker2DFollow34.5Computational Time (s)CEM32.874443.847254.8265.7928May 28, 2024Sep 23, 2024Jan 19, 2025May 18, 2025Sep 13, 2025Jan 9, 2026May 8, 2026Evaluation resultsMethodMethodLinksComputational Time (s)Reward per StepOptimized CostCEM2024.0534.5——MBD2024.0534.6——MPPI2024.0534.7——CMA-ES2024.0537.5——RL2024.0551.5——PISTO2026.0565.991.2622—CEM2026.0575.130.8603—MPPI2026.0575.140.7505—CEM2026.05——0.85CMA-ES2026.05——0.848DIDA2026.05——0.352MBD2026.05——0.756MPPI2026.05——0.745SA2026.05——0.849