MuJoCo
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
MuJoCo (test)
0.118Camera Error
7
MuJoCo (train)
9.8Camera Error
7
MuJoCo Hopper
1,992.4Score (pact=0.1)
7
MuJoCo Walker2d
4,056.6Return (pact=0.1)
7
MuJoCo HalfCheetah
6,605.8Score (pact=0.1)
7
Mujoco
3,424Hopper Score
7
MuJoCo Inverted Pendulum
98.9Return Ratio
6
MuJoCo Walker2d
0.196Return Ratio
6
MuJoCo Hopper
59.1Return Ratio
6
MuJoCo HalfCheetah
1.638Return Ratio
6
MuJoCo sim-to-sim Box Manipulation (test)
10Full-task Success (2 kg, 0 cm)
6
MuJoCo
0.034MSE
6
MuJoCo In-distribution
1.52MAE (Damping)
6
MuJoCo HalfCheetah, Hopper, Walker2d, Ant D4RL (kinematic shifts)
42.2HalfCheetah (m → m) Score
6
MuJoCo HalfCheetah
9,599Average Return
6
MuJoCo (in-distribution)
578.2Average Return
6
MuJoCo (in-distribution)
566Average Return
6
MuJoCo in-distribution
726.7Average Return
6
MuJoCo Cheetah-speed In-distribution
751.2Average Return
6
MuJoCo
0.204Speed (m/s)
6
MuJoCo 70% missing
0.029MSE
6
MuJoCo 50% missing
0.029MSE
6
MuJoCo 30% missing
0.029MSE
6
MuJoCo Hopper 10-p v4
94.5Normalized Return
6
MuJoCo v4 (test)
0.64HumanoidStandup-v4 Score
6