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Correctly compute plan variance in cross-entropy planner. #1481

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Correctly compute plan variance in cross-entropy planner.

Correctly compute plan variance in cross-entropy planner. #1481

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Job Run time
MuJoCo MPC on ubuntu-20.04 with Clang 12
39m 3s
MuJoCo MPC on macos-12
25m 15s
1h 4m 18s