Locomotion Control on MJPC Quadruped Canter (test)
3.87SpeedupWASP-Based iLQG
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| WASP-Based iLQGBaseline Planner=Robust, # Samples=602025.12 | 3.87 | 202.1 | |
| WASP-Based iLQGBaseline Planner=Predictive, # Samples=602025.12 | 2.48 | 157.5 | |
| WASP-Based iLQGBaseline Planner=Sample Gradient, # Samples=602025.12 | 2.24 | 94.7 | |
| WASP-Based iLQGBaseline Planner=Cross Entropy, # Samples=602025.12 | 1.52 | 113.2 |