# Reinforcement Learning on HalfCheetah Pure Source: [Reinforcement Learning on HalfCheetah Pure]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:35:44.999Z Evaluation of standard Reinforcement Learning performance on the HalfCheetah Pure environment variant, measured by specific reward configurations. 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) | HalfCheetah Pure | | Metric | Average Reward (0.3/1.7) | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 10 of 10 | | 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 (0.3/1.7)](): Higher is better; unit: SCALAR. - [Average Reward (1.7/0.3)](): Higher is better; unit: SCALAR. - [Average Reward (0.3/0.3)](): Higher is better; unit: SCALAR. ## Recorded results | Method | Average Reward (0.3/1.7) | Result date | Report paper | | --- | --- | --- | --- | | True env+MPC | 7459 | Not recorded | 68fa6b371e209131cea2cf55 | | PerSim | 1984 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | 549.8 | Not recorded | 68fa6b371e209131cea2cf55 | | PE-TS CaDM | 481.1 | Not recorded | 68fa6b371e209131cea2cf55 | | Vanilla CaDM | 50.31 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | -65 | Not recorded | 68fa6b371e209131cea2cf55 | | BCQ | -262.7 | Not recorded | 68fa6b371e209131cea2cf55 | | CQL | -353.5 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | -726.2 | Not recorded | 68fa6b371e209131cea2cf55 | | MOREL | -1297 | Not recorded | 68fa6b371e209131cea2cf55 | ### True env+MPC Average Reward (0.3/1.7): 7459. Result ID: 698e71aaffc3901de09da3d6. [Reporting paper]() Recorded evaluation configuration: {"Data source (optimality)":"Oracle (True Environment)"}. This record does not assert independent reproduction. ### PerSim Average Reward (0.3/1.7): 1984. Result ID: 698e71aaffc3901de09da3cd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure"}. This record does not assert independent reproduction. ### BCQ Average Reward (0.3/1.7): 549.8. Result ID: 698e71aaffc3901de09da3d0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Planning"}. This record does not assert independent reproduction. ### PE-TS CaDM Average Reward (0.3/1.7): 481.1. Result ID: 698e71aaffc3901de09da3cf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure"}. This record does not assert independent reproduction. ### Vanilla CaDM Average Reward (0.3/1.7): 50.31. Result ID: 698e71aaffc3901de09da3ce. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure"}. This record does not assert independent reproduction. ### CQL Average Reward (0.3/1.7): -65. Result ID: 698e71aaffc3901de09da3d3. [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 (0.3/1.7): -262.7. Result ID: 698e71aaffc3901de09da3d1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Acting"}. This record does not assert independent reproduction. ### CQL Average Reward (0.3/1.7): -353.5. Result ID: 698e71aaffc3901de09da3d2. [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 (0.3/1.7): -726.2. Result ID: 698e71aaffc3901de09da3d5. [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 (0.3/1.7): -1297. Result ID: 698e71aaffc3901de09da3d4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data source (optimality)":"Pure","Algorithm variant":"Planning"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.