ResearchBenchmarksRobotic Control on Humanoid v4Robotic Control on Humanoid v4Follow72.3Local Optima Escape RateMA-MPPI9.3825.71542.0558.385Sep 24, 2025Evaluation resultsMethodMethodLinksLocal Optima Escape RateMA-MPPIinitial states=challen...initial states=challenging2025.0972.3SACinitial states=challen...initial states=challenging2025.0946.7PPOinitial states=challen...initial states=challenging2025.0938.6DDPGinitial states=challen...initial states=challenging2025.0932.5MPPIinitial states=challen...initial states=challenging2025.0929.4MPCinitial states=challen...initial states=challenging2025.0924.9iLQRinitial states=challen...initial states=challenging2025.0911.8