# Reinforcement Learning on MuJoCo HalfCheetah v5 Source: [Reinforcement Learning on MuJoCo HalfCheetah v5]() Collection index: [llms.txt]() Data updated: 2026-03-04T14:22:44.686Z Evaluation of standard Reinforcement Learning performance on the MuJoCo HalfCheetah environment, version 5, typically measured by Mean episodic return. 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) | MuJoCo HalfCheetah v5 | | Metric | Mean Episodic Return | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 17 of 17 | | 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 - [Mean Episodic Return](): Higher is better; unit: SCALAR. ## Recorded results | Method | Mean Episodic Return | Result date | Report paper | | --- | --- | --- | --- | | SAID | 14845 | Not recorded | 69a66c622d603e6de3e3d20c | | SAC | 12450 | Not recorded | 69a66c622d603e6de3e3d20c | | SAID | 9648 | Not recorded | 69a66c622d603e6de3e3d20c | | SADR | 8190 | Not recorded | 69a66c622d603e6de3e3d20c | | VDPO | 6720 | Not recorded | 69a66c622d603e6de3e3d20c | | SAID | 5565 | Not recorded | 69a66c622d603e6de3e3d20c | | SAID | 5289 | Not recorded | 69a66c622d603e6de3e3d20c | | SADR | 4945 | Not recorded | 69a66c622d603e6de3e3d20c | | DR | 4702 | Not recorded | 69a66c622d603e6de3e3d20c | | SADR | 4565 | Not recorded | 69a66c622d603e6de3e3d20c | | VDPO | 3350 | Not recorded | 69a66c622d603e6de3e3d20c | | DR | 2873 | Not recorded | 69a66c622d603e6de3e3d20c | | VDPO | 2085 | Not recorded | 69a66c622d603e6de3e3d20c | | DR | 1249 | Not recorded | 69a66c622d603e6de3e3d20c | | SAC | 129 | Not recorded | 69a66c622d603e6de3e3d20c | | SAC | 121 | Not recorded | 69a66c622d603e6de3e3d20c | | SAC | 109 | Not recorded | 69a66c622d603e6de3e3d20c | ### SAID Mean Episodic Return: 14845. Result ID: 69a840326dbb7075b94f04eb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"0"}. This record does not assert independent reproduction. ### SAC Mean Episodic Return: 12450. Result ID: 69a840326dbb7075b94f04de. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Delay steps":"0"}. This record does not assert independent reproduction. ### SAID Mean Episodic Return: 9648. Result ID: 69a840326dbb7075b94f04ec. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"4"}. This record does not assert independent reproduction. ### SADR Mean Episodic Return: 8190. Result ID: 69a840326dbb7075b94f04e5. [Reporting paper]() Recorded evaluation configuration: {"Delay steps":"4"}. This record does not assert independent reproduction. ### VDPO Mean Episodic Return: 6720. Result ID: 69a840326dbb7075b94f04e8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"4"}. This record does not assert independent reproduction. ### SAID Mean Episodic Return: 5565. Result ID: 69a840326dbb7075b94f04ed. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"8"}. This record does not assert independent reproduction. ### SAID Mean Episodic Return: 5289. Result ID: 69a840326dbb7075b94f04ee. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"16"}. This record does not assert independent reproduction. ### SADR Mean Episodic Return: 4945. Result ID: 69a840326dbb7075b94f04e6. [Reporting paper]() Recorded evaluation configuration: {"Delay steps":"8"}. This record does not assert independent reproduction. ### DR Mean Episodic Return: 4702. Result ID: 69a840326dbb7075b94f04e2. [Reporting paper]() Recorded evaluation configuration: {"Delay steps":"4"}. This record does not assert independent reproduction. ### SADR Mean Episodic Return: 4565. Result ID: 69a840326dbb7075b94f04e7. [Reporting paper]() Recorded evaluation configuration: {"Delay steps":"16"}. This record does not assert independent reproduction. ### VDPO Mean Episodic Return: 3350. Result ID: 69a840326dbb7075b94f04e9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"8"}. This record does not assert independent reproduction. ### DR Mean Episodic Return: 2873. Result ID: 69a840326dbb7075b94f04e3. [Reporting paper]() Recorded evaluation configuration: {"Delay steps":"8"}. This record does not assert independent reproduction. ### VDPO Mean Episodic Return: 2085. Result ID: 69a840326dbb7075b94f04ea. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Delay steps":"16"}. This record does not assert independent reproduction. ### DR Mean Episodic Return: 1249. Result ID: 69a840326dbb7075b94f04e4. [Reporting paper]() Recorded evaluation configuration: {"Delay steps":"16"}. This record does not assert independent reproduction. ### SAC Mean Episodic Return: 129. Result ID: 69a840326dbb7075b94f04e0. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Delay steps":"8"}. This record does not assert independent reproduction. ### SAC Mean Episodic Return: 121. Result ID: 69a840326dbb7075b94f04e1. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Delay steps":"16"}. This record does not assert independent reproduction. ### SAC Mean Episodic Return: 109. Result ID: 69a840326dbb7075b94f04df. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Delay steps":"4"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.