Multi-Joint dynamics with Contact
Physics-based continuous control benchmark. Evaluated on 15 DMControl tasks; metric is mean normalized score (0=random, 1000=expert) at 1M environment steps.
TD-MPC2 (317M params)
UC San Diego
960
average-return
average-return Progress Over Time
Showing 5 breakthroughs from Jan 2018 to Oct 2023
Key Milestones
SAC (state-based). Mean normalized score across DMControl tasks. Classic baseline from TD-MPC2 Table 1.
DrQ-v2, pixel-based. Mean normalized score across 15 DMControl tasks, 1M steps. From TD-MPC2 Table 1.
TD-MPC (original). Mean normalized score across DMControl tasks, 1M steps. ICML 2022 baseline from TD-MPC2 paper.
DreamerV3. Mean normalized score across 15 DMControl tasks, 1M steps. From TD-MPC2 Table 1 comparison.
TD-MPC2, 317M-param shared model. Mean normalized score across 15 DMControl tasks, 1M steps. ICLR 2024.
Top Models Performance Comparison
Top 9 models ranked by average-return
average-returnPrimary
| # | Model | Score | Paper / Code | Date |
|---|---|---|---|---|
| 1 | TD-MPC2 (317M params)Open Source UC San Diego | 960 | Mar 2026 | |
| 2 | TD-MPC2 (19M params)Open Source UC San Diego | 953 | Mar 2026 | |
| 3 | FOWMOpen Source CMU | 945 | Mar 2026 | |
| 4 | BROOpen Source DeepMind / TU Warsaw | 941 | Mar 2026 | |
| 5 | TD-MPC2 (5M params)Open Source UC San Diego | 929 | Mar 2026 | |
| 6 | DreamerV3Open Source Google DeepMind | 897 | Mar 2026 | |
| 7 | TD-MPCOpen Source UC San Diego | 857 | Mar 2026 | |
| 8 | DrQ-v2Open Source NYU / Google | 799 | Mar 2026 | |
| 9 | SAC (state-based)Open Source UC Berkeley | 777 | Mar 2026 |