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Benchmarks
Walking Performance on MuJoCo 2D Walker
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44.41
Mean Walking Time (s)
SOPPI
1.4996
12.6398
23.78
34.9202
Nov 3, 2025
Mean Walking Time (s)
Std Dev Walking Time (s)
Median Walking Time (s)
Updated 2mo ago
Evaluation Results
Method
Method
Links
Mean Walking Time (s)
Std Dev Walking Time (s)
Median Walking Time (s)
SOPPI
Time-step horizon=50,...
2025.11
44.41
24.83
39.49
MPPI
Time-step horizon=50,...
2025.11
20.37
13.33
15.2
SVG-MPPI
Time-step horizon=50,...
2025.11
9.81
15.51
3.41
Stein MPC
Time-step horizon=50,...
2025.11
3.15
3.02
1.5
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