Quadruped robot reference tracking on Unitree Go1 quadruped robot 10 initial states
0.5344Tracking ErrorMPPI-True
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MPPI-TrueTime (ms)=11.7 ± 0.12026.03 | 0.5344 | 0.0072 | 26.4 | — | |
| MPCDynamics=exact dyn.2026.04 | 0.57 | 0.05 | 0.02 | 42.3 | |
| MPPI-DKTime (ms)=8.8 ± 0.12026.03 | 0.6577 | 0.0043 | 20.6 | — | |
| PGDK-Online2026.04 | 0.72 | 0.05 | 0.98 | 0.04 |