Locomotion Control on MJPC Quadruped Gallop (test)
4.04SpeedupWASP-Based iLQG
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| WASP-Based iLQGBaseline Planner=Robust, # Samples=602025.12 | 4.04 | 146 | |
| WASP-Based iLQGBaseline Planner=Predictive, # Samples=602025.12 | 2.59 | 113.8 | |
| WASP-Based iLQGBaseline Planner=Sample Gradient, # Samples=602025.12 | 2.34 | 68.4 | |
| WASP-Based iLQGBaseline Planner=Cross Entropy, # Samples=602025.12 | 1.59 | 81.8 |