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Benchmarks
Trajectory Optimization on Barkour nx=37, nu=12, Tmpc=50 Feasible Trajectories
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91
Success Rate
SV-DDP
6.76
28.63
50.5
72.37
May 30, 2026
Success Rate
Computation Time
Path Deviation
Updated 1d ago
Evaluation Results
Method
Method
Links
Success Rate
Computation Time
Path Deviation
SV-DDP
2026.05
91
323
6.31
UG-ME-DDP
2026.05
80
311
6.24
MG-ME-DDP
2026.05
60
282
6.36
SV-MPPI
2026.05
43
343
6.29
UG-MPPI
2026.05
35
291
6.14
MG-MPPI
2026.05
30
245
6.08
DDP
2026.05
10
448
6.02
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