Locomotion Control on MJPC Quadruped Walk (test)
2.78SpeedupWASP-Based iLQG
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| WASP-Based iLQGBaseline Planner=Robust, # Samples=602025.12 | 2.78 | 340.4 | |
| WASP-Based iLQGBaseline Planner=Predictive, # Samples=602025.12 | 1.78 | 265.3 | |
| WASP-Based iLQGBaseline Planner=Sample Gradient, # Samples=602025.12 | 1.61 | 159.5 | |
| WASP-Based iLQGBaseline Planner=Cross Entropy, # Samples=602025.12 | 1.1 | 190.8 |