> For the complete documentation index, see [llms.txt](https://slm-lab.gitbook.io/slm-lab/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://slm-lab.gitbook.io/slm-lab/benchmark-results/rl-gifs.md).

# RL GIFs

These GIFs show trained agents running in "enjoy" mode. Generate your own with:

```bash
slm-lab run slm_lab/spec/benchmark/ppo/ppo_cartpole.json ppo_cartpole enjoy@data/ppo_cartpole_2026_01_30_221924/ppo_cartpole_t0_spec.json
```

## Atari (PPO)

|                                                                                                                      |                                                                                                                       |
| :------------------------------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------------------------------: |
|   ![BeamRider](https://user-images.githubusercontent.com/8209263/63994698-689ecf00-caaa-11e9-991f-0a5e9c2f5804.gif)  |    ![Breakout](https://user-images.githubusercontent.com/8209263/63994695-650b4800-caaa-11e9-9982-2462738caa45.gif)   |
|                                                       BeamRider                                                      |                                                        Breakout                                                       |
| ![KungFuMaster](https://user-images.githubusercontent.com/8209263/63994690-60469400-caaa-11e9-9093-b1cd38cee5ae.gif) |    ![MsPacman](https://user-images.githubusercontent.com/8209263/63994685-5cb30d00-caaa-11e9-8f35-78e29a7d60f5.gif)   |
|                                                     KungFuMaster                                                     |                                                        MsPacman                                                       |
|     ![Pong](https://user-images.githubusercontent.com/8209263/63994680-59b81c80-caaa-11e9-9253-ed98370351cd.gif)     |     ![Qbert](https://user-images.githubusercontent.com/8209263/63994672-54f36880-caaa-11e9-9757-7780725b53af.gif)     |
|                                                         Pong                                                         |                                                         Qbert                                                         |
|   ![Seaquest](https://user-images.githubusercontent.com/8209263/63994665-4dcc5a80-caaa-11e9-80bf-c21db818115b.gif)   | ![SpaceInvaders](https://user-images.githubusercontent.com/8209263/63994624-15c51780-caaa-11e9-9c9a-854d3ce9066d.gif) |
|                                                       Seaquest                                                       |                                                     SpaceInvaders                                                     |

## MuJoCo (SAC)

|                                                                                                                                |                                                                                                                          |
| :----------------------------------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------------------------------------: |
|           ![Ant](https://user-images.githubusercontent.com/8209263/63994867-ff6b8b80-caaa-11e9-971e-2fac1cddcbac.gif)          |    ![HalfCheetah](https://user-images.githubusercontent.com/8209263/63994869-01354f00-caab-11e9-8e11-3893d2c2419d.gif)   |
|                                                               Ant                                                              |                                                        HalfCheetah                                                       |
|         ![Hopper](https://user-images.githubusercontent.com/8209263/63994871-0397a900-caab-11e9-9566-4ca23c54b2d4.gif)         |     ![Humanoid](https://user-images.githubusercontent.com/8209263/63994883-0befe400-caab-11e9-9bcc-c30c885aad73.gif)     |
|                                                             Hopper                                                             |                                                         Humanoid                                                         |
| ![InvertedDoublePendulum](https://user-images.githubusercontent.com/8209263/63994879-07c3c680-caab-11e9-974c-06cdd25bfd68.gif) | ![InvertedPendulum](https://user-images.githubusercontent.com/8209263/63994880-085c5d00-caab-11e9-850d-049401540e3b.gif) |
|                                                     InvertedDoublePendulum                                                     |                                                     InvertedPendulum                                                     |
|         ![Reacher](https://user-images.githubusercontent.com/8209263/63994881-098d8a00-caab-11e9-8e19-a3b32d601b10.gif)        |     ![Walker2d](https://user-images.githubusercontent.com/8209263/63994882-0abeb700-caab-11e9-9e19-b59dc5c43393.gif)     |
|                                                             Reacher                                                            |                                                         Walker2d                                                         |

{% hint style="info" %}
These replays were generated with SLM Lab v4 using Roboschool. In v5, MuJoCo environments (`Hopper-v5`, `HalfCheetah-v5`, etc.) provide similar physics with improved stability.
{% endhint %}