ResearchBenchmarksTrajectory Tracking on Sine-wave TrajectoryTrajectory Tracking on Sine-wave TrajectoryFollow0.587X Error (m)ICODE-MPPI0.583240.608620.6340.65938May 5, 2026Evaluation resultsMethodMethodLinksX Error (m)Y Error (m)Yaw Error (rad)ICODE-MPPI2026.050.5870.2130.266MPPI2026.050.6810.3140.214