ResearchBenchmarksRobotic Control on HalfCheetah v4 (Local Optima Escape Rate)Robotic Control on HalfCheetah v4 (Local Optima Escape Rate)Follow76.8Local Optima Escape RateMA-MPPI13.8830.21546.5562.885Sep 24, 2025Evaluation resultsMethodMethodLinksLocal Optima Escape RateMA-MPPIinitial states=challen...initial states=challenging2025.0976.8SACinitial states=challen...initial states=challenging2025.0951.5PPOinitial states=challen...initial states=challenging2025.0945.3DDPGinitial states=challen...initial states=challenging2025.0939.7MPPIinitial states=challen...initial states=challenging2025.0936.2MPCinitial states=challen...initial states=challenging2025.0931.4iLQRinitial states=challen...initial states=challenging2025.0916.3