MuJoCo Humanoid
Benchmarks
TaskDatasetSOTA resultTrendResults
MuJoCo Humanoid v4
115Normalized Performance (Ret_nor)
18
MuJoCo Humanoid v2
10,490Average Return
18
MuJoCo Humanoid
10,249Average Return
12
MuJoCo Humanoid v4 (test)
11,940Mean Episodic Return
10
MuJoCo Humanoid 1.5–2.0× mass
91.1Retention Rate
6
MuJoCo Humanoid v2 (train)
6,242Mean Return
6
MuJoCo Humanoid v2 (test)
9,080.54Max Avg Return
6
MuJoCo Humanoid v5 (test)
5,701.2Average Return
4
MuJoCo Humanoid v2 (test)
2,300LUTs
2
MuJoCo Humanoid D4RL medium
2,059.02Return
2
MuJoCo Humanoid Body variation (test)
1,365CVaR 0.05 Return
2
MuJoCo Humanoid Mass variation (test)
1,378CVaR 0.05 Return
2
MuJoCo Humanoid Velocity variation (test)
833CVaR 0.05 Return
2
MuJoCo Humanoid v3 (train)
665Avg Performance (1M Steps)
2