# Trajectory Optimization on Humanoid Running

Source: [Trajectory Optimization on Humanoid Running](<https://www.sota2.com/research/sota/trajectory-optimization-on-humanoid-running>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:39:44.041Z

Evaluation of trajectory optimization performance within the Humanoid Running environment, typically measured by computational time.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Trajectory Optimization |
| Dataset (including any stated split) | Humanoid Running |
| Metric | Computational Time (s) |
| Unit | TIME |
| Direction | Lower is better |
| Results loaded | 5 of 5 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Computational Time (s)](<https://www.sota2.com/research/sota/trajectory-optimization-on-humanoid-running.md?metric=Computational%20Time%20(s)>): Lower is better; unit: TIME.

## Recorded results

| Method | Computational Time (s) | Result date | Report paper |
| --- | --- | --- | --- |
| MPPI | 29.6 | Not recorded | 68fa5bfc1e209131ce9cd1c0 |
| CEM | 29.7 | Not recorded | 68fa5bfc1e209131ce9cd1c0 |
| MBD | 30 | Not recorded | 68fa5bfc1e209131ce9cd1c0 |
| CMA-ES | 30.8 | Not recorded | 68fa5bfc1e209131ce9cd1c0 |
| RL | 334.7 | Not recorded | 68fa5bfc1e209131ce9cd1c0 |

### MPPI

Computational Time (s): 29.6. Result ID: 698bb3657a967eddb770b70d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5bfc1e209131ce9cd1c0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63831e209131ce9ff197.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CEM

Computational Time (s): 29.7. Result ID: 698bb3657a967eddb770b70c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5bfc1e209131ce9cd1c0.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### MBD

Computational Time (s): 30. Result ID: 698bb3657a967eddb770b70f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5bfc1e209131ce9cd1c0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa5bfc1e209131ce9cd1c0.md>)

[Implementation](<https://lecar-lab.github.io/mbd/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CMA-ES

Computational Time (s): 30.8. Result ID: 698bb3657a967eddb770b70b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5bfc1e209131ce9cd1c0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa608e1e209131ce9f01e7.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### RL

Computational Time (s): 334.7. Result ID: 698bb3657a967eddb770b70e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5bfc1e209131ce9cd1c0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63a01e209131ce9ffdaa.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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