ResearchBenchmarksContinuous control locomotion on MuJoCo Humanoid v3 (train)Follow665Avg Performance (1M Steps)GePPO580.76602.63624.5646.37Oct 29, 2021Evaluation ResultsMethodMethodLinksAvg Performance (1M Steps)Final PerformanceSteps (M) to Final PerformancePercent ImprovementGePPOclipping parameter=0.1...clipping parameter=0.1, value function estimator=V-trace2021.106651,3450.8514PPOclipping parameter=0.2...clipping parameter=0.2, batch size=20482021.105849721—