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Benchmarks
Trajectory Optimization on Barkour nx=37 nu=12 Tmpc=50 All Trajectories
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92
Success Rate
SV-DDP
27.52
44.26
61
77.74
May 30, 2026
Success Rate
Computation Time
Path Cost
Constraint Violation
Updated 1d ago
Evaluation Results
Method
Method
Links
Success Rate
Computation Time
Path Cost
Constraint Violation
SV-DDP
2026.05
92
324
6.32
7.95
UG-ME-DDP
2026.05
81
311
6.25
9.13
MG-ME-DDP
2026.05
76
288
6.38
1.56
SV-MPPI
2026.05
43
334
6.29
-
UG-MPPI
2026.05
35
391
6.14
-
DDP
2026.05
30
458
6.4
1.21
MG-MPPI
2026.05
30
245
6.08
-
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