# Playground Benchmark

## MuJoCo Playground PPO Benchmark Results

SLM Lab v5.3 validates PPO on [MuJoCo Playground](https://google-deepmind.github.io/mujoco_playground/) — Google DeepMind's GPU-accelerated simulation platform. MuJoCo Playground uses the MJWarp backend (Warp-accelerated MJX) for physics, enabling massively parallel training with 2048 environments on GPU.

SLM Lab wraps Playground environments as `gymnasium.VectorEnv` with DLPack zero-copy JAX→PyTorch transfer. All 54 environments use the `playground/` prefix in specs.

Results below are from March 2026 benchmark runs. All trained models and metrics are publicly available on [HuggingFace](https://huggingface.co/datasets/SLM-Lab/benchmark).

### Methodology

Results show **Trial-level** performance:

1. **Trial** = 4 Sessions with different random seeds
2. **Session** = One complete training run
3. **Score** = Final 100-checkpoint moving average (`total_reward_ma`)

The trial score is the mean across 4 sessions.

### Standardized Settings

| Category   | num\_envs | max\_frame | log\_frequency |
| ---------- | --------- | ---------- | -------------- |
| Playground | 2048      | 100e6      | 10000          |

### Spec File

**Spec file**: [ppo\_playground.yaml](https://github.com/kengz/SLM-Lab/blob/master/slm_lab/spec/benchmark_arc/ppo/ppo_playground.yaml) — all envs via `-s env=playground/ENV`

### Running Benchmarks

```bash
# Requires: uv sync --group playground (JAX + MuJoCo Playground + MJWarp)

source .env && slm-lab run-remote --gpu \
  slm_lab/spec/benchmark_arc/ppo/ppo_playground.yaml SPEC_NAME train \
  -s env=playground/ENV -s max_frame=100000000 -n NAME
```

### Installation

```bash
uv sync --group playground
```

This adds JAX, MuJoCo Playground, and MJWarp dependencies. Requires a CUDA GPU.

***

## Phase 5.1: DM Control Suite (25 envs)

Classic control and locomotion tasks from the DeepMind Control Suite, ported to MJWarp GPU simulation.

| ENV                              | MA     | SPEC\_NAME                              | HF Data                                                                                                                                                                                                    |
| -------------------------------- | ------ | --------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| playground/AcrobotSwingup        | 253.24 | ppo\_playground\_vnorm                  | [ppo\_playground\_acrobotswingup\_2026\_03\_12\_175809](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_acrobotswingup_2026_03_12_175809)                                  |
| playground/AcrobotSwingupSparse  | 146.98 | ppo\_playground\_vnorm                  | [ppo\_playground\_vnorm\_acrobotswingupsparse\_2026\_03\_14\_161212](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_acrobotswingupsparse_2026_03_14_161212)         |
| playground/BallInCup             | 942.44 | ppo\_playground\_vnorm                  | [ppo\_playground\_ballincup\_2026\_03\_12\_105443](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_ballincup_2026_03_12_105443)                                            |
| playground/CartpoleBalance       | 968.23 | ppo\_playground\_vnorm                  | [ppo\_playground\_cartpolebalance\_2026\_03\_12\_141924](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_cartpolebalance_2026_03_12_141924)                                |
| playground/CartpoleBalanceSparse | 995.34 | ppo\_playground\_constlr                | [ppo\_playground\_constlr\_cartpolebalancesparse\_2026\_03\_14\_000352](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_constlr_cartpolebalancesparse_2026_03_14_000352)   |
| playground/CartpoleSwingup       | 729.09 | ppo\_playground\_constlr                | [ppo\_playground\_constlr\_cartpoleswingup\_2026\_03\_17\_041102](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_constlr_cartpoleswingup_2026_03_17_041102)               |
| playground/CartpoleSwingupSparse | 521.98 | ppo\_playground\_constlr                | [ppo\_playground\_constlr\_cartpoleswingupsparse\_2026\_03\_13\_233449](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_constlr_cartpoleswingupsparse_2026_03_13_233449)   |
| playground/CheetahRun            | 883.44 | ppo\_playground\_vnorm                  | [ppo\_playground\_vnorm\_cheetahrun\_2026\_03\_14\_161211](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_cheetahrun_2026_03_14_161211)                             |
| playground/FingerSpin            | 713.35 | ppo\_playground\_fingerspin             | [ppo\_playground\_fingerspin\_fingerspin\_2026\_03\_13\_033911](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_fingerspin_fingerspin_2026_03_13_033911)                   |
| playground/FingerTurnEasy        | 663.58 | ppo\_playground\_vnorm                  | [ppo\_playground\_fingerturneasy\_2026\_03\_12\_175835](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_fingerturneasy_2026_03_12_175835)                                  |
| playground/FingerTurnHard        | 590.43 | ppo\_playground\_vnorm\_constlr         | [ppo\_playground\_vnorm\_constlr\_fingerturnhard\_2026\_03\_16\_234509](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_constlr_fingerturnhard_2026_03_16_234509)    |
| playground/FishSwim              | 580.57 | ppo\_playground\_vnorm\_constlr\_clip03 | [ppo\_playground\_vnorm\_constlr\_clip03\_fishswim\_2026\_03\_14\_002112](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_constlr_clip03_fishswim_2026_03_14_002112) |
| playground/HopperHop             | 22.00  | ppo\_playground\_vnorm                  | [ppo\_playground\_hopperhop\_2026\_03\_12\_110855](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_hopperhop_2026_03_12_110855)                                            |
| playground/HopperStand           | 237.15 | ppo\_playground\_vnorm                  | [ppo\_playground\_vnorm\_hopperstand\_2026\_03\_14\_095438](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_hopperstand_2026_03_14_095438)                           |
| playground/HumanoidRun           | 18.83  | ppo\_playground\_humanoid               | [ppo\_playground\_humanoid\_humanoidrun\_2026\_03\_14\_115522](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_humanoid_humanoidrun_2026_03_14_115522)                     |
| playground/HumanoidStand         | 114.86 | ppo\_playground\_humanoid               | [ppo\_playground\_humanoid\_humanoidstand\_2026\_03\_14\_115516](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_humanoid_humanoidstand_2026_03_14_115516)                 |
| playground/HumanoidWalk          | 47.01  | ppo\_playground\_humanoid               | [ppo\_playground\_humanoid\_humanoidwalk\_2026\_03\_14\_172235](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_humanoid_humanoidwalk_2026_03_14_172235)                   |
| playground/PendulumSwingup       | 637.46 | ppo\_playground\_pendulum               | [ppo\_playground\_pendulum\_pendulumswingup\_2026\_03\_13\_033818](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_pendulum_pendulumswingup_2026_03_13_033818)             |
| playground/PointMass             | 868.09 | ppo\_playground\_vnorm\_constlr         | [ppo\_playground\_vnorm\_constlr\_pointmass\_2026\_03\_14\_095452](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_constlr_pointmass_2026_03_14_095452)              |
| playground/ReacherEasy           | 955.08 | ppo\_playground\_vnorm                  | [ppo\_playground\_reachereasy\_2026\_03\_12\_122115](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_reachereasy_2026_03_12_122115)                                        |
| playground/ReacherHard           | 946.99 | ppo\_playground\_vnorm                  | [ppo\_playground\_reacherhard\_2026\_03\_12\_123226](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_reacherhard_2026_03_12_123226)                                        |
| playground/SwimmerSwimmer6       | 591.13 | ppo\_playground\_vnorm\_constlr         | [ppo\_playground\_vnorm\_constlr\_swimmerswimmer6\_2026\_03\_14\_000406](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_constlr_swimmerswimmer6_2026_03_14_000406)  |
| playground/WalkerRun             | 759.71 | ppo\_playground\_vnorm                  | [ppo\_playground\_vnorm\_walkerrun\_2026\_03\_14\_161354](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_walkerrun_2026_03_14_161354)                               |
| playground/WalkerStand           | 948.35 | ppo\_playground\_vnorm                  | [ppo\_playground\_vnorm\_walkerstand\_2026\_03\_14\_161415](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_walkerstand_2026_03_14_161415)                           |
| playground/WalkerWalk            | 945.31 | ppo\_playground\_vnorm                  | [ppo\_playground\_vnorm\_walkerwalk\_2026\_03\_14\_161338](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_vnorm_walkerwalk_2026_03_14_161338)                             |

|                                                                                                                                                                           |                                                                                                                                                                           |                                                                                                                                                               |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ![AcrobotSwingup](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/AcrobotSwingup_multi_trial_graph_mean_returns_ma_vs_frames.png)               | ![AcrobotSwingupSparse](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/AcrobotSwingupSparse_multi_trial_graph_mean_returns_ma_vs_frames.png)   | ![BallInCup](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/BallInCup_multi_trial_graph_mean_returns_ma_vs_frames.png)             |
| ![CartpoleBalance](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/CartpoleBalance_multi_trial_graph_mean_returns_ma_vs_frames.png)             | ![CartpoleBalanceSparse](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/CartpoleBalanceSparse_multi_trial_graph_mean_returns_ma_vs_frames.png) | ![CartpoleSwingup](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/CartpoleSwingup_multi_trial_graph_mean_returns_ma_vs_frames.png) |
| ![CartpoleSwingupSparse](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/CartpoleSwingupSparse_multi_trial_graph_mean_returns_ma_vs_frames.png) | ![CheetahRun](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/CheetahRun_multi_trial_graph_mean_returns_ma_vs_frames.png)                       | ![FingerSpin](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/FingerSpin_multi_trial_graph_mean_returns_ma_vs_frames.png)           |
| ![FingerTurnEasy](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/FingerTurnEasy_multi_trial_graph_mean_returns_ma_vs_frames.png)               | ![FingerTurnHard](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/FingerTurnHard_multi_trial_graph_mean_returns_ma_vs_frames.png)               | ![FishSwim](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/FishSwim_multi_trial_graph_mean_returns_ma_vs_frames.png)               |
| ![HopperHop](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/HopperHop_multi_trial_graph_mean_returns_ma_vs_frames.png)                         | ![HopperStand](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/HopperStand_multi_trial_graph_mean_returns_ma_vs_frames.png)                     | ![HumanoidRun](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/HumanoidRun_multi_trial_graph_mean_returns_ma_vs_frames.png)         |
| ![HumanoidStand](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/HumanoidStand_multi_trial_graph_mean_returns_ma_vs_frames.png)                 | ![HumanoidWalk](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/HumanoidWalk_multi_trial_graph_mean_returns_ma_vs_frames.png)                   | ![PendulumSwingup](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PendulumSwingup_multi_trial_graph_mean_returns_ma_vs_frames.png) |
| ![PointMass](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PointMass_multi_trial_graph_mean_returns_ma_vs_frames.png)                         | ![ReacherEasy](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/ReacherEasy_multi_trial_graph_mean_returns_ma_vs_frames.png)                     | ![ReacherHard](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/ReacherHard_multi_trial_graph_mean_returns_ma_vs_frames.png)         |
| ![SwimmerSwimmer6](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/SwimmerSwimmer6_multi_trial_graph_mean_returns_ma_vs_frames.png)             | ![WalkerRun](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/WalkerRun_multi_trial_graph_mean_returns_ma_vs_frames.png)                         | ![WalkerStand](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/WalkerStand_multi_trial_graph_mean_returns_ma_vs_frames.png)         |
| ![WalkerWalk](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/WalkerWalk_multi_trial_graph_mean_returns_ma_vs_frames.png)                       |                                                                                                                                                                           |                                                                                                                                                               |

***

## Phase 5.2: Locomotion Robots (19 envs)

Real-world robot locomotion — quadrupeds (Go1, Spot, Barkour) and humanoids (H1, G1, T1, Op3, Apollo, BerkeleyHumanoid) on flat and rough terrain.

| ENV                                             | MA    | SPEC\_NAME                     | HF Data                                                                                                                                                                                                                                           |
| ----------------------------------------------- | ----- | ------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| playground/ApolloJoystickFlatTerrain            | 17.44 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_apollojoystickflatterrain\_2026\_03\_14\_210939](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_apollojoystickflatterrain_2026_03_14_210939)                       |
| playground/BarkourJoystick                      | 0.0   | ppo\_playground\_loco          | [ppo\_playground\_loco\_barkourjoystick\_2026\_03\_14\_194525](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_barkourjoystick_2026_03_14_194525)                                                            |
| playground/BerkeleyHumanoidJoystickFlatTerrain  | 32.29 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_berkeleyhumanoidjoystickflatterrain\_2026\_03\_14\_213019](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickflatterrain_2026_03_14_213019)   |
| playground/BerkeleyHumanoidJoystickRoughTerrain | 21.25 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_berkeleyhumanoidjoystickroughterrain\_2026\_03\_15\_150211](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_berkeleyhumanoidjoystickroughterrain_2026_03_15_150211) |
| playground/G1JoystickFlatTerrain                | 1.85  | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_g1joystickflatterrain\_2026\_03\_15\_150219](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_g1joystickflatterrain_2026_03_15_150219)                               |
| playground/G1JoystickRoughTerrain               | -2.75 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_g1joystickroughterrain\_2026\_03\_19\_015137](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_g1joystickroughterrain_2026_03_19_015137)                             |
| playground/Go1Footstand                         | 23.48 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_go1footstand\_2026\_03\_16\_174009](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_go1footstand_2026_03_16_174009)                                                 |
| playground/Go1Getup                             | 18.16 | ppo\_playground\_loco\_go1     | [ppo\_playground\_loco\_go1\_go1getup\_2026\_03\_16\_132801](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_go1_go1getup_2026_03_16_132801)                                                                 |
| playground/Go1Handstand                         | 17.88 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_go1handstand\_2026\_03\_16\_155437](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_go1handstand_2026_03_16_155437)                                                 |
| playground/Go1JoystickFlatTerrain               | 0.0   | ppo\_playground\_loco          | [ppo\_playground\_loco\_go1joystickflatterrain\_2026\_03\_14\_204658](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_go1joystickflatterrain_2026_03_14_204658)                                              |
| playground/Go1JoystickRoughTerrain              | 0.00  | ppo\_playground\_loco          | [ppo\_playground\_loco\_go1joystickroughterrain\_2026\_03\_15\_150321](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_go1joystickroughterrain_2026_03_15_150321)                                            |
| playground/H1InplaceGaitTracking                | 11.95 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_h1inplacegaittracking\_2026\_03\_16\_170327](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_h1inplacegaittracking_2026_03_16_170327)                               |
| playground/H1JoystickGaitTracking               | 31.11 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_h1joystickgaittracking\_2026\_03\_16\_170412](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_h1joystickgaittracking_2026_03_16_170412)                             |
| playground/Op3Joystick                          | 0.00  | ppo\_playground\_loco          | [ppo\_playground\_loco\_op3joystick\_2026\_03\_15\_150120](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_op3joystick_2026_03_15_150120)                                                                    |
| playground/SpotFlatTerrainJoystick              | 48.58 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_spotflatterrainjoystick\_2026\_03\_16\_180747](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_spotflatterrainjoystick_2026_03_16_180747)                           |
| playground/SpotGetup                            | 19.39 | ppo\_playground\_loco          | [ppo\_playground\_loco\_spotgetup\_2026\_03\_14\_213703](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_spotgetup_2026_03_14_213703)                                                                        |
| playground/SpotJoystickGaitTracking             | 36.90 | ppo\_playground\_loco          | [ppo\_playground\_loco\_spotjoystickgaittracking\_2026\_03\_19\_015106](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_spotjoystickgaittracking_2026_03_19_015106)                                          |
| playground/T1JoystickFlatTerrain                | 13.42 | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_t1joystickflatterrain\_2026\_03\_14\_220250](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_t1joystickflatterrain_2026_03_14_220250)                               |
| playground/T1JoystickRoughTerrain               | 2.58  | ppo\_playground\_loco\_precise | [ppo\_playground\_loco\_precise\_t1joystickroughterrain\_2026\_03\_15\_162332](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_precise_t1joystickroughterrain_2026_03_15_162332)                             |

|                                                                                                                                                                                                         |                                                                                                                                                                             |                                                                                                                                                                                                       |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ![ApolloJoystickFlatTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/ApolloJoystickFlatTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png)                       | ![BarkourJoystick](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/BarkourJoystick_multi_trial_graph_mean_returns_ma_vs_frames.png)               | ![BerkeleyHumanoidJoystickFlatTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/BerkeleyHumanoidJoystickFlatTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png) |
| ![G1JoystickFlatTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/G1JoystickFlatTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png)                               | ![Go1Footstand](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/Go1Footstand_multi_trial_graph_mean_returns_ma_vs_frames.png)                     | ![Go1Handstand](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/Go1Handstand_multi_trial_graph_mean_returns_ma_vs_frames.png)                                               |
| ![H1InplaceGaitTracking](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/H1InplaceGaitTracking_multi_trial_graph_mean_returns_ma_vs_frames.png)                               | ![H1JoystickGaitTracking](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/H1JoystickGaitTracking_multi_trial_graph_mean_returns_ma_vs_frames.png) | ![Op3Joystick](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/Op3Joystick_multi_trial_graph_mean_returns_ma_vs_frames.png)                                                 |
| ![SpotFlatTerrainJoystick](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/SpotFlatTerrainJoystick_multi_trial_graph_mean_returns_ma_vs_frames.png)                           | ![SpotGetup](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/SpotGetup_multi_trial_graph_mean_returns_ma_vs_frames.png)                           | ![SpotJoystickGaitTracking](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/SpotJoystickGaitTracking_multi_trial_graph_mean_returns_ma_vs_frames.png)                       |
| ![BerkeleyHumanoidJoystickRoughTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/BerkeleyHumanoidJoystickRoughTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png) | ![Go1Getup](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/Go1Getup_multi_trial_graph_mean_returns_ma_vs_frames.png)                             | ![Go1JoystickFlatTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/Go1JoystickFlatTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png)                           |
| ![Go1JoystickRoughTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/Go1JoystickRoughTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png)                           | ![T1JoystickFlatTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/T1JoystickFlatTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png)   | ![T1JoystickRoughTerrain](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/T1JoystickRoughTerrain_multi_trial_graph_mean_returns_ma_vs_frames.png)                           |

***

## Phase 5.3: Manipulation (10 envs)

Robotic manipulation — Panda arm pick/place, Aloha bimanual, Leap dexterous hand, and AeroCube orientation tasks.

| ENV                                 | MA       | SPEC\_NAME                         | HF Data                                                                                                                                                                                                                        |
| ----------------------------------- | -------- | ---------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| playground/AeroCubeRotateZAxis      | -3.09    | ppo\_playground\_loco              | [ppo\_playground\_loco\_aerocuberotatezaxis\_2026\_03\_20\_012502](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_aerocuberotatezaxis_2026_03_20_012502)                                 |
| playground/AlohaHandOver            | 3.65     | ppo\_playground\_loco              | [ppo\_playground\_loco\_alohahandover\_2026\_03\_15\_023712](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_alohahandover_2026_03_15_023712)                                             |
| playground/AlohaSinglePegInsertion  | 220.93   | ppo\_playground\_manip\_aloha\_peg | [ppo\_playground\_manip\_aloha\_peg\_alohasinglepeginsertion\_2026\_03\_17\_122613](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_manip_aloha_peg_alohasinglepeginsertion_2026_03_17_122613) |
| playground/LeapCubeReorient         | 74.68    | ppo\_playground\_loco              | [ppo\_playground\_loco\_leapcubereorient\_2026\_03\_15\_150420](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_leapcubereorient_2026_03_15_150420)                                       |
| playground/LeapCubeRotateZAxis      | 91.65    | ppo\_playground\_loco              | [ppo\_playground\_loco\_leapcuberotatezaxis\_2026\_03\_15\_150334](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_leapcuberotatezaxis_2026_03_15_150334)                                 |
| playground/PandaOpenCabinet         | 11081.51 | ppo\_playground\_loco              | [ppo\_playground\_loco\_pandaopencabinet\_2026\_03\_15\_150318](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_pandaopencabinet_2026_03_15_150318)                                       |
| playground/PandaPickCube            | 4586.13  | ppo\_playground\_loco              | [ppo\_playground\_loco\_pandapickcube\_2026\_03\_15\_023744](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_pandapickcube_2026_03_15_023744)                                             |
| playground/PandaPickCubeCartesian   | 10.58    | ppo\_playground\_loco              | [ppo\_playground\_loco\_pandapickcubecartesian\_2026\_03\_15\_023810](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_pandapickcubecartesian_2026_03_15_023810)                           |
| playground/PandaPickCubeOrientation | 4281.66  | ppo\_playground\_loco              | [ppo\_playground\_loco\_pandapickcubeorientation\_2026\_03\_19\_015108](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_pandapickcubeorientation_2026_03_19_015108)                       |
| playground/PandaRobotiqPushCube     | 1.31     | ppo\_playground\_loco              | [ppo\_playground\_loco\_pandarobotiqpushcube\_2026\_03\_15\_042131](https://huggingface.co/datasets/SLM-Lab/benchmark/tree/main/data/ppo_playground_loco_pandarobotiqpushcube_2026_03_15_042131)                               |

|                                                                                                                                                                         |                                                                                                                                                                             |                                                                                                                                                                                 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| ![AeroCubeRotateZAxis](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/AeroCubeRotateZAxis_multi_trial_graph_mean_returns_ma_vs_frames.png)   | ![AlohaHandOver](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/AlohaHandOver_multi_trial_graph_mean_returns_ma_vs_frames.png)                   | ![AlohaSinglePegInsertion](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/AlohaSinglePegInsertion_multi_trial_graph_mean_returns_ma_vs_frames.png)   |
| ![LeapCubeReorient](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/LeapCubeReorient_multi_trial_graph_mean_returns_ma_vs_frames.png)         | ![LeapCubeRotateZAxis](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/LeapCubeRotateZAxis_multi_trial_graph_mean_returns_ma_vs_frames.png)       | ![PandaOpenCabinet](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PandaOpenCabinet_multi_trial_graph_mean_returns_ma_vs_frames.png)                 |
| ![PandaPickCube](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PandaPickCube_multi_trial_graph_mean_returns_ma_vs_frames.png)               | ![PandaPickCubeCartesian](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PandaPickCubeCartesian_multi_trial_graph_mean_returns_ma_vs_frames.png) | ![PandaPickCubeOrientation](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PandaPickCubeOrientation_multi_trial_graph_mean_returns_ma_vs_frames.png) |
| ![PandaRobotiqPushCube](https://huggingface.co/datasets/SLM-Lab/benchmark/resolve/main/docs/plots/PandaRobotiqPushCube_multi_trial_graph_mean_returns_ma_vs_frames.png) |                                                                                                                                                                             |                                                                                                                                                                                 |
