# Locomotion on PyBullet Half cheetah

Source: [Locomotion on PyBullet Half cheetah](<https://www.sota2.com/research/sota/locomotion-on-pybullet-half-cheetah>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T05:42:02.216Z

Evaluation of locomotion performance in the PyBullet Half Cheetah environment, measured by cumulative Reward and Energy consumption.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Locomotion |
| Dataset (including any stated split) | PyBullet Half cheetah |
| Metric | Energy Consumption |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Energy Consumption](<https://www.sota2.com/research/sota/locomotion-on-pybullet-half-cheetah.md?metric=Energy%20Consumption>): Lower is better; unit: SCALAR.

- [Cumulative Reward](<https://www.sota2.com/research/sota/locomotion-on-pybullet-half-cheetah.md?metric=Cumulative%20Reward>): Higher is better; unit: SCALAR.

## Recorded results

| Method | Energy Consumption | Result date | Report paper |
| --- | --- | --- | --- |
| SAC | 0.23 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-gSDE | 0.23 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-gSDE | 0.24 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-Lattice | 0.25 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-Lattice | 0.26 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-Lattice | 0.26 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-Lattice | 0.27 | Not recorded | 68fa5f521e209131ce9e902a |
| SAC-gSDE | 0.28 | Not recorded | 68fa5f521e209131ce9e902a |

### SAC

Energy Consumption: 0.23. Result ID: 698bc3357a967eddb7712e1d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64a51e209131cea05d13.md>)

[Implementation](<https://www.sota2.com/github.com/haarnoja/sac>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SAC-gSDE

Energy Consumption: 0.23. Result ID: 698bc3357a967eddb7712e1e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d671e209131cea3990b.md>)

[Implementation](<https://github.com/DLR-RM/stable-baselines3>)

Recorded evaluation configuration: {"Sampling Period":"4"}. This record does not assert independent reproduction.

### SAC-gSDE

Energy Consumption: 0.24. Result ID: 698bc3357a967eddb7712e20.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d671e209131cea3990b.md>)

[Implementation](<https://github.com/DLR-RM/stable-baselines3>)

Recorded evaluation configuration: {"Sampling Period":"episode"}. This record does not assert independent reproduction.

### SAC-Lattice

Energy Consumption: 0.25. Result ID: 698bc3357a967eddb7712e24.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Implementation](<https://github.com/amathislab/lattice>)

Recorded evaluation configuration: {"Sampling Period":"episode"}. This record does not assert independent reproduction.

### SAC-Lattice

Energy Consumption: 0.26. Result ID: 698bc3357a967eddb7712e22.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Implementation](<https://github.com/amathislab/lattice>)

Recorded evaluation configuration: {"Sampling Period":"4"}. This record does not assert independent reproduction.

### SAC-Lattice

Energy Consumption: 0.26. Result ID: 698bc3357a967eddb7712e23.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Implementation](<https://github.com/amathislab/lattice>)

Recorded evaluation configuration: {"Sampling Period":"8"}. This record does not assert independent reproduction.

### SAC-Lattice

Energy Consumption: 0.27. Result ID: 698bc3357a967eddb7712e21.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Implementation](<https://github.com/amathislab/lattice>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SAC-gSDE

Energy Consumption: 0.28. Result ID: 698bc3357a967eddb7712e1f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa5f521e209131ce9e902a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d671e209131cea3990b.md>)

[Implementation](<https://github.com/DLR-RM/stable-baselines3>)

Recorded evaluation configuration: {"Sampling Period":"8"}. This record does not assert independent reproduction.

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