Atari Environment Benchmark
Last updated
Last updated
Env. \ Alg.
DQN
DDQN+PER
A2C (GAE)
A2C (n-step)
PPO
Adventure
-0.94
-0.92
-0.77
-0.85
-0.3
AirRaid
1876
3974
4202
3557
4028
Alien
822
1574
1519
1627
1413
Amidar
90.95
431
577
418
795
Assault
1392
2567
3366
3312
3619
Asterix
1253
6866
5559
5223
6132
Asteroids
439
426
2951
2147
2186
Atlantis
68679
644810
2747371
2259733
2148077
BankHeist
131
623
855
1170
1183
BattleZone
6564
6395
4336
4533
13649
BeamRider
2799
5870
2659
4139
4299
Berzerk
319
401
1073
763
860
Bowling
30.29
39.5
24.51
23.75
31.64
Boxing
72.11
90.98
1.57
1.26
96.53
Breakout
80.88
182
377
398
443
Carnival
4280
4773
2473
1827
4566
Centipede
1899
2153
3909
4202
5003
ChopperCommand
1083
4020
3043
1280
3357
CrazyClimber
46984
88814
106256
109998
116820
Defender
281999
313018
665609
657823
534639
DemonAttack
1705
19856
23779
19615
121172
DoubleDunk
-21.44
-22.38
-5.15
-13.3
-6.01
ElevatorAction
32.62
17.91
9966
8818
6471
Enduro
437
959
787
0.0
1926
FishingDerby
-88.14
-1.7
16.54
1.65
36.03
Freeway
24.46
30.49
30.97
0.0
32.11
Frostbite
98.8
2497
277
261
1062
Gopher
1095
7562
929
1545
2933
Gravitar
87.34
258
313
433
223
Hero
1051
12579
16502
19322
17412
IceHockey
-14.96
-14.24
-5.79
-6.06
-6.43
Jamesbond
44.87
702
521
453
561
JourneyEscape
-4818
-2003
-921
-2032
-1094
Kangaroo
1965
8897
67.62
554
4989
Krull
5522
6650
7785
6642
8477
KungFuMaster
2288
16547
31199
25554
34523
MontezumaRevenge
0.0
0.02
0.08
0.19
1.08
MsPacman
1175
2215
1965
2158
2350
NameThisGame
3915
4474
5178
5795
6386
Phoenix
2909
8179
16345
13586
30504
Pitfall
-68.83
-73.65
-101
-31.13
-35.93
Pong
18.48
20.5
19.31
19.56
20.58
Pooyan
1958
2741
2862
2531
6799
PrivateEye
784
303
93.22
78.07
50.12
Qbert
5494
11426
12405
13590
13460
Riverraid
953
10492
8308
7565
9636
RoadRunner
15237
29047
30152
31030
32956
Robotank
3.43
9.05
2.98
2.27
2.27
Seaquest
1185
4405
1070
1684
1715
Skiing
-14094
-12883
-19481
-14234
-24713
Solaris
612
1396
2115
2236
1892
SpaceInvaders
451
670
733
750
797
StarGunner
3565
38238
44816
48410
60579
Tennis
-23.78
-10.33
-22.42
-19.06
-11.52
TimePilot
2819
1884
3331
3440
4398
Tutankham
35.03
159
161
175
211
UpNDown
2043
11632
89769
18878
262208
Venture
4.56
9.61
0.0
0.0
11.84
VideoPinball
8056
79730
35371
40423
58096
WizardOfWor
869
328
1516
1247
4283
YarsRevenge
5816
15698
27097
11742
10114
Zaxxon
442
54.28
64.72
24.7
641
The table above presents results for 62 Atari games. All agents were trained for 10M frames (40M including skipped frames). Reported results are the episode score at the end of training, averaged over the previous 100 evaluation checkpoints with each checkpoint averaged over 4 Sessions. Agents were checkpointed every 10k training frames.
