MuJoCo
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
MuJoCo Humanoid
0.92Normalized Return
3
MuJoCo Hopper
81Normalized Return
3
MuJoCo Halfcheetah (t = 3T/4)
2,293.6Average Return
3
MuJoCo Halfcheetah (t = 2T/3 (shift))
2,017.6Average Return
3
MuJoCo
0.15Inference Time
3
MuJoCo Box-Parkour (Beyond Nominal Initializations)
98Success Rate
3
MuJoCo Hopper
3,290,150Clean Reward
3
MuJoCo HalfCheetah
3,680,220Clean Reward
3
MuJoCo Ant
4,720,255Clean Reward
3
MuJoCo Biased Pendulum (Hard Constraint)
0C.V Rate
3
Mujoco Swimmer
585,000Total Steps
3
Mujoco simulator
63Demo Gen Success Rate
2
MuJoCo Scenario 2 (Spherical surface)
0.013Translational Tracking Error RMSE (m)
2
MuJoCo Scenario 1 Planar surface
0.018Translational Tracking Error RMSE (m)
2
MuJoCo HalfCheetah
418.7Improvement over BC
2
MuJoCo Ant
84.5Improvement over BC
2
MuJoCo Hopper
53.2Improvement over BC
2
MuJoCo Small object size Far distance
10Success Rate
2
MuJoCo Small-Near object size distance
100Success Rate
2
MuJoCo Ant v2 (test)
2,700LUTs (Thousands)
2
MuJoCo Walker2D v2 (test)
1.9LUTs
2
MuJoCo Hopper synthetic (test)
0.72MSE
2
MuJoCo 10 object variants
85.1Success Rate
2
MuJoCo walker2d-expert
114.1Normalized Score
2
MuJoCo hopper-expert
112Normalized Score
2