# Reinforcement Learning on CartPole Pure Source: [Reinforcement Learning on CartPole Pure]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:35:45.072Z Evaluation of Reinforcement Learning agents on the CartPole Pure environment, measured by average reward across specific configuration settings (e.g., episode length and discount factor combinations). 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 | Reinforcement Learning | | Dataset (including any stated split) | CartPole Pure | | Metric | Average Reward (2/0.5) | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 30 of 30 | | 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 - [Average Reward (2/0.5)](): Higher is better; unit: SCALAR. - [Average Reward (10/0.85)](): Higher is better; unit: SCALAR. - [Average Reward (10/0.15)](): Higher is better; unit: SCALAR. ## Recorded results | Method | Average Reward (2/0.5) | Result date | Report paper | | --- | --- | --- | --- | | True env+MPC | 200 | Not recorded | 68fa6b371e209131cea2cf55 | | True env+MPC | 200 | Not recorded | 68fa6b371e209131cea2cf55 | | True env+MPC | 200 | Not recorded | 68fa6b371e209131cea2cf55 | | PerSim | 199.8 | Not recorded | 68fa6b371e209131cea2cf55 | | PerSim | 199.7 | Not recorded | 68fa6b371e209131cea2cf55 | | PerSim | 197.7 | Not recorded | 68fa6b371e209131cea2cf55 | | Vanilla CaDM | 171.1 | Not recorded | 68fa6b371e209131cea2cf55 | | Vanilla CaDM | 168 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | 166.7 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 166.2 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | 163.7 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | 154.4 | Not recorded | 68fa6b371e209131cea2cf55 | | Vanilla CaDM | 150.5 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | 122.8 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 98.9 | Not recorded | 68fa6b371e209131cea2cf55 | | PE-TS CaDM | 98.3 | Not recorded | 68fa6b371e209131cea2cf55 | | PE-TS CaDM | 92.3 | Not recorded | 68fa6b371e209131cea2cf55 | | PE-TS CaDM | 88.6 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | 67.4 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 67.3 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 65.4 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | 50.2 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 44.8 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 43.9 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | 42.4 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | 41.4 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | 39.9 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | 35.8 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | 35.8 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | 33.7 | Not recorded | 68fa6b371e209131cea2cf55 | ### True env+MPC Average Reward (2/0.5): 200. Result ID: 698e71aaffc3901de09da3cc. [Reporting paper]() Recorded evaluation configuration: {"Data source (optimality)":"Oracle (True Environment)"}. This record does not assert independent reproduction. ### True env+MPC Average Reward (2/0.5): 200. Result ID: 698e71aaffc3901de09da3ea. [Reporting paper]() Recorded evaluation configuration: {"Data source (optimality)":"Oracle (True Environment)"}. This record does not assert independent reproduction. ### True env+MPC Average Reward (2/0.5): 200. Result ID: 698e71aaffc3901de09da408. [Reporting paper]() Recorded evaluation configuration: {"Data source (optimality)":"Oracle (True Environment)"}. This record does not assert independent reproduction. ### PerSim Average Reward (2/0.5): 199.8. Result ID: 698e71aaffc3901de09da3ff. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20"}. This record does not assert independent reproduction. ### PerSim Average Reward (2/0.5): 199.7. Result ID: 698e71aaffc3901de09da3c3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure"}. This record does not assert independent reproduction. ### PerSim Average Reward (2/0.5): 197.7. Result ID: 698e71aaffc3901de09da3e1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random"}. This record does not assert independent reproduction. ### Vanilla CaDM Average Reward (2/0.5): 171.1. Result ID: 698e71aaffc3901de09da400. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20"}. This record does not assert independent reproduction. ### Vanilla CaDM Average Reward (2/0.5): 168. Result ID: 698e71aaffc3901de09da3c4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure"}. This record does not assert independent reproduction. ### MOREL Average Reward (2/0.5): 166.7. Result ID: 698e71aaffc3901de09da406. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### BCQ Average Reward (2/0.5): 166.2. Result ID: 698e71aaffc3901de09da3c6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### CQL Average Reward (2/0.5): 163.7. Result ID: 698e71aaffc3901de09da404. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### CQL Average Reward (2/0.5): 154.4. Result ID: 698e71aaffc3901de09da3c8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### Vanilla CaDM Average Reward (2/0.5): 150.5. Result ID: 698e71aaffc3901de09da3e2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random"}. This record does not assert independent reproduction. ### CQL Average Reward (2/0.5): 122.8. Result ID: 698e71aaffc3901de09da3c9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### BCQ Average Reward (2/0.5): 98.9. Result ID: 698e71aaffc3901de09da402. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### PE-TS CaDM Average Reward (2/0.5): 98.3. Result ID: 698e71aaffc3901de09da401. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20"}. This record does not assert independent reproduction. ### PE-TS CaDM Average Reward (2/0.5): 92.3. Result ID: 698e71aaffc3901de09da3c5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure"}. This record does not assert independent reproduction. ### PE-TS CaDM Average Reward (2/0.5): 88.6. Result ID: 698e71aaffc3901de09da3e3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random"}. This record does not assert independent reproduction. ### CQL Average Reward (2/0.5): 67.4. Result ID: 698e71aaffc3901de09da3e7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### BCQ Average Reward (2/0.5): 67.3. Result ID: 698e71aaffc3901de09da403. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### BCQ Average Reward (2/0.5): 65.4. Result ID: 698e71aaffc3901de09da3c7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### MOREL Average Reward (2/0.5): 50.2. Result ID: 698e71aaffc3901de09da3e8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### BCQ Average Reward (2/0.5): 44.8. Result ID: 698e71aaffc3901de09da3e4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### BCQ Average Reward (2/0.5): 43.9. Result ID: 698e71aaffc3901de09da3e5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### CQL Average Reward (2/0.5): 42.4. Result ID: 698e71aaffc3901de09da405. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### MOREL Average Reward (2/0.5): 41.4. Result ID: 698e71aaffc3901de09da407. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure-8-20","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### CQL Average Reward (2/0.5): 39.9. Result ID: 698e71aaffc3901de09da3e6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### MOREL Average Reward (2/0.5): 35.8. Result ID: 698e71aaffc3901de09da3ca. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### MOREL Average Reward (2/0.5): 35.8. Result ID: 698e71aaffc3901de09da3e9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Random","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### MOREL Average Reward (2/0.5): 33.7. Result ID: 698e71aaffc3901de09da3cb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Acting"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.