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Google DeepMind

MuJoCo.

Physics engine for continuous control tasks like walking, running, and manipulation.

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§ 01 · Leaderboard

Results by metric.

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Average Return

Mean episodic return averaged across HalfCheetah, Hopper, and Walker2d at 1M steps.

Higher is better

Trust tiers for Average Returnverifiedpapervendorcommunityunverified

Muted rows were not state of the art when published — an earlier or same-year result already scored better.

RankModelTrustScoreYearLinksFix
01TD3
Mean of HalfCheetah-v4 (9583), Hopper-v4 (3134), Walker2d-v4 (4057) at 1M steps. CleanRL verified.
verified55922026Source ↗Looks wrong?
02SAC
Mean of HalfCheetah-v4 (9634), Hopper-v4 (2310), Walker2d-v4 (3591) at 1M steps. CleanRL verified.
verified51792026Source ↗Looks wrong?
03PPO
Mean of HalfCheetah-v4 (1442), Hopper-v4 (2382), Walker2d-v4 (2287) at 1M steps. CleanRL verified.
verified20382026Source ↗Looks wrong?
04TD-MPC2 (317M params)
TD-MPC2, 317M-param shared model. Mean normalized score across 15 DMControl tasks, 1M steps. ICLR 2024.
paper9602026Source ↗Looks wrong?
05TD-MPC2 (19M params)
TD-MPC2, 19M-param shared model. Mean normalized score across 15 DMControl tasks, 1M steps. ICLR 2024.
paper9532026Source ↗Looks wrong?
06FOWM
FOWM (Foundation Online World Models). Mean normalized score, DMControl 15 tasks. NeurIPS 2024.
paper9452026Source ↗Looks wrong?
07BRO
BRO (Best-of-N Robustness RL). Mean normalized score across DMControl tasks. ICML 2024.
paper9412026Source ↗Looks wrong?
08TD-MPC2 (5M params)
TD-MPC2, 5M-param model. Mean normalized score across 15 DMControl tasks, 1M steps. ICLR 2024.
paper9292026Source ↗Looks wrong?
09DreamerV3
DreamerV3. Mean normalized score across 15 DMControl tasks, 1M steps. From TD-MPC2 Table 1 comparison.
paper8972026Source ↗Looks wrong?
10TD-MPC
TD-MPC (original). Mean normalized score across DMControl tasks, 1M steps. ICML 2022 baseline from TD-MPC2 paper.
paper8572026Source ↗Looks wrong?
11DrQ-v2
DrQ-v2, pixel-based. Mean normalized score across 15 DMControl tasks, 1M steps. From TD-MPC2 Table 1.
paper7992026Source ↗Looks wrong?
12SAC (state-based)
SAC (state-based). Mean normalized score across DMControl tasks. Classic baseline from TD-MPC2 Table 1.
paper7772026Source ↗Looks wrong?
§ 04 · Submit a result

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