mppi critic for obstacle avoidance mppi critic for obstacle avoidance using costmap score mppi critic for driving towards the goal mppi critic for achieving the goal heading angle mppi critic for aligning to path mppi critic for aligning to path (legacy) mppi critic for tracking the path in the correct heading mppi critic for driving towards the goal that is furthest among trajectories nearest path points mppi critic for preventing twirling behavior when using omnidirectional models mppi critic for incentivizing moving within kinematic and dynamic bounds mppi critic for restricting command velocities in deadband range