ResearchBenchmarksWalking Performance on MuJoCo 2D WalkerWalking Performance on MuJoCo 2D WalkerFollow44.41Mean Walking Time (s)SOPPI1.499612.639823.7834.9202Nov 3, 2025Evaluation resultsMethodMethodLinksMean Walking Time (s)Std Dev Walking Time (s)Median Walking Time (s)SOPPITime-step horizon=50,...Time-step horizon=50, Samples=1,0002025.1144.4124.8339.49MPPITime-step horizon=50,...Time-step horizon=50, Samples=1,0002025.1120.3713.3315.2SVG-MPPITime-step horizon=50,...Time-step horizon=50, Samples=1,0002025.119.8115.513.41Stein MPCTime-step horizon=50,...Time-step horizon=50, Samples=1,0002025.113.153.021.5