Locomotion Control on MJPC Quadruped Trot (test)
3.36SpeedupWASP-Based iLQG
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| WASP-Based iLQGBaseline Planner=Robust, # Samples=602025.12 | 3.36 | 136.2 | |
| WASP-Based iLQGBaseline Planner=Predictive, # Samples=602025.12 | 2.15 | 106.1 | |
| WASP-Based iLQGBaseline Planner=Sample Gradient, # Samples=602025.12 | 1.94 | 63.8 | |
| WASP-Based iLQGBaseline Planner=Cross Entropy, # Samples=602025.12 | 1.33 | 76.3 |