Core16 · 定性档案

64 段最终 Policy 重跑

十六个 Environment、四条 Coding Agent / 模型链路，每个 validation-selected checkpoint 都有一段原环境重跑。

Acrobot

双连杆欠驱动机械臂的摆起控制任务。

Control最佳报告分数 -84.69结果详情 →

native env render

GPT-5.5

Codex

BEST

Held-out 分数: -84.69
Checkpoint: #001
重跑: 76 steps

Validation-selected checkpoint rerun in the original environment; case return -75.00.

native env render

Claude Opus 4.7

Claude Code

Held-out 分数: -88.59
Checkpoint: #011
重跑: 74 steps

Validation-selected checkpoint rerun in the original environment; case return -73.00.

native env render

MiniMax-M3

Claude Code

Held-out 分数: -136.4
Checkpoint: #010
重跑: 249 steps

Validation-selected checkpoint rerun in the original environment; case return -248.0.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -91.16
Checkpoint: #007
重跑: 130 steps

Validation-selected checkpoint rerun in the original environment; case return -129.0.

ContinuousCar

带延迟目标奖励的连续油门控制任务。

Control最佳报告分数 98.77结果详情 →

native env render

GPT-5.5

Codex

Held-out 分数: 95.22
Checkpoint: #005
重跑: 88 steps

Validation-selected checkpoint rerun in the original environment; case return 95.69.

native env render

Claude Opus 4.7

Claude Code

BEST

Held-out 分数: 98.77
Checkpoint: #010
重跑: 344 steps

Validation-selected checkpoint rerun in the original environment; case return 98.89.

native env render

MiniMax-M3

Claude Code

Held-out 分数: 91.88
Checkpoint: #010
重跑: 143 steps

Validation-selected checkpoint rerun in the original environment; case return 91.61.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 94.48
Checkpoint: #012
重跑: 69 steps

Validation-selected checkpoint rerun in the original environment; case return 94.50.

Bipedal

在不平地形上的高接触双足运动任务。

Box2D最佳报告分数 248.9结果详情 →

native env render

GPT-5.5

Codex

BEST

Held-out 分数: 248.9
Checkpoint: #010
重跑: 1600 steps

Validation-selected checkpoint rerun in the original environment; case return 273.3.

native env render

Claude Opus 4.7

Claude Code

Held-out 分数: -15.84
Checkpoint: #027
重跑: 1600 steps

Validation-selected checkpoint rerun in the original environment; case return -15.30.

native env render

MiniMax-M3

Claude Code

Held-out 分数: -80.87
Checkpoint: #001
重跑: 217 steps

Validation-selected checkpoint rerun in the original environment; case return -68.83.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -97.48
Checkpoint: #004
重跑: 113 steps

Validation-selected checkpoint rerun in the original environment; case return -97.29.

CarRacing

在程序生成赛道上的像素观测驾驶任务。

Box2D最佳报告分数 604.1结果详情 →

native env render

GPT-5.5

Codex

BEST

Held-out 分数: 604.1
Checkpoint: #009
重跑: 1000 steps

Validation-selected checkpoint rerun in the original environment; case return 499.4.

native env render

Claude Opus 4.7

Claude Code

Held-out 分数: 602.3
Checkpoint: #006
重跑: 1000 steps

Validation-selected checkpoint rerun in the original environment; case return 499.4.

native env render

MiniMax-M3

Claude Code

Held-out 分数: 233.4
Checkpoint: #008
重跑: 1000 steps

Validation-selected checkpoint rerun in the original environment; case return 171.9.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 25.20
Checkpoint: #002
重跑: 1000 steps

Validation-selected checkpoint rerun in the original environment; case return -3.509.

Reacher

控制连续动作机械臂到达目标点。

MuJoCo最佳报告分数 -3.473结果详情 →

direct mujoco renderer

GPT-5.5

Codex

BEST

Held-out 分数: -3.473
Checkpoint: #012
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -1.880.

direct mujoco renderer

Claude Opus 4.7

Claude Code

Held-out 分数: -3.979
Checkpoint: #007
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -2.670.

direct mujoco renderer

MiniMax-M3

Claude Code

Held-out 分数: -5.103
Checkpoint: #015
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -2.308.

direct mujoco renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -6.506
Checkpoint: #019
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -4.613.

HalfCheetah

带稠密反馈的高维平面运动任务。

MuJoCo最佳报告分数 606.2结果详情 →

direct mujoco renderer

GPT-5.5

Codex

Held-out 分数: 601.8
Checkpoint: #003
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 211.2.

direct mujoco renderer

Claude Opus 4.7

Claude Code

Held-out 分数: 452.0
Checkpoint: #038
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 119.7.

direct mujoco renderer

MiniMax-M3

Claude Code

BEST

Held-out 分数: 606.2
Checkpoint: #040
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 128.0.

direct mujoco renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -0.468
Checkpoint: #017
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return -0.893.

Ant

包含八维连续动作的多足运动任务。

MuJoCo最佳报告分数 990.1结果详情 →

direct mujoco renderer

GPT-5.5

Codex

Held-out 分数: 989.6
Checkpoint: #006
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 221.1.

direct mujoco renderer

Claude Opus 4.7

Claude Code

BEST

Held-out 分数: 990.1
Checkpoint: #002
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 204.6.

direct mujoco renderer

MiniMax-M3

Claude Code

Held-out 分数: 983.4
Checkpoint: #007
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 215.7.

direct mujoco renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 898.0
Checkpoint: #019
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 192.5.

Pusher

通过接触操作把物体推向目标位置。

MuJoCo最佳报告分数 -37.11结果详情 →

direct mujoco renderer

GPT-5.5

Codex

BEST

Held-out 分数: -37.11
Checkpoint: #005
重跑: 100 steps

Validation-selected checkpoint rerun in the original environment; case return -38.36.

direct mujoco renderer

Claude Opus 4.7

Claude Code

Held-out 分数: -38.52
Checkpoint: #014
重跑: 100 steps

Validation-selected checkpoint rerun in the original environment; case return -37.53.

direct mujoco renderer

MiniMax-M3

Claude Code

Held-out 分数: -39.25
Checkpoint: #010
重跑: 100 steps

Validation-selected checkpoint rerun in the original environment; case return -41.99.

direct mujoco renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -54.18
Checkpoint: #004
重跑: 100 steps

Validation-selected checkpoint rerun in the original environment; case return -55.45.

DoorKey

寻找钥匙、打开门并到达目标。

MiniGrid最佳报告分数 0.986结果详情 →

native env render

GPT-5.5

Codex

BEST

Held-out 分数: 0.986
Checkpoint: #007
重跑: 43 steps

Validation-selected checkpoint rerun in the original environment; case return 0.985.

native env render

Claude Opus 4.7

Claude Code

Held-out 分数: 0.983
Checkpoint: #005
重跑: 66 steps

Validation-selected checkpoint rerun in the original environment; case return 0.977.

native env render

MiniMax-M3

Claude Code

Held-out 分数: 0.000
Checkpoint: #015
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 0.000
Checkpoint: #025
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

KeyCorridor

需要物体交互与记忆的多房间搜索。

MiniGrid最佳报告分数 0.930结果详情 →

native env render

GPT-5.5

Codex

Held-out 分数: 0.918
Checkpoint: #005
重跑: 25 steps

Validation-selected checkpoint rerun in the original environment; case return 0.953.

native env render

Claude Opus 4.7

Claude Code

BEST

Held-out 分数: 0.930
Checkpoint: #003
重跑: 26 steps

Validation-selected checkpoint rerun in the original environment; case return 0.951.

native env render

MiniMax-M3

Claude Code

Held-out 分数: 0.000
Checkpoint: #012
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 0.000
Checkpoint: #023
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

FourRooms

在部分观测下穿越四房间瓶颈。

MiniGrid最佳报告分数 0.701结果详情 →

native env render

GPT-5.5

Codex

Held-out 分数: 0.664
Checkpoint: #013
重跑: 38 steps

Validation-selected checkpoint rerun in the original environment; case return 0.658.

native env render

Claude Opus 4.7

Claude Code

BEST

Held-out 分数: 0.701
Checkpoint: #009
重跑: 32 steps

Validation-selected checkpoint rerun in the original environment; case return 0.712.

native env render

MiniMax-M3

Claude Code

Held-out 分数: 0.403
Checkpoint: #009
重跑: 100 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 0.079
Checkpoint: #036
重跑: 100 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

ObstructedMaze

带阻挡物与交互顺序的迷宫导航。

MiniGrid最佳报告分数 0.911结果详情 →

native env render

GPT-5.5

Codex

Held-out 分数: 0.904
Checkpoint: #021
重跑: 90 steps

Validation-selected checkpoint rerun in the original environment; case return 0.887.

native env render

Claude Opus 4.7

Claude Code

BEST

Held-out 分数: 0.911
Checkpoint: #012
重跑: 48 steps

Validation-selected checkpoint rerun in the original environment; case return 0.940.

native env render

MiniMax-M3

Claude Code

Held-out 分数: 0.000
Checkpoint: #009
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

native env render

DeepSeek-V4-Pro

Claude Code

Held-out 分数: 0.000
Checkpoint: #034
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return 0.000.

Parking

把车辆连续控制到目标停车姿态。

Driving最佳报告分数 -30.24结果详情 →

highway state renderer

GPT-5.5

Codex

BEST

Held-out 分数: -30.24
Checkpoint: #012
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return -48.79.

highway state renderer

Claude Opus 4.7

Claude Code

Held-out 分数: -38.18
Checkpoint: #010
重跑: 116 steps

Validation-selected checkpoint rerun in the original environment; case return -46.70.

highway state renderer

MiniMax-M3

Claude Code

Held-out 分数: -32.71
Checkpoint: #013
重跑: 220 steps

Validation-selected checkpoint rerun in the original environment; case return -45.59.

highway state renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -53.38
Checkpoint: #003
重跑: 54 steps

Validation-selected checkpoint rerun in the original environment; case return -24.69.

Roundabout

在环岛场景中的结构化交通控制。

Driving最佳报告分数 10.20结果详情 →

highway state renderer

GPT-5.5

Codex

Held-out 分数: 9.818
Checkpoint: #012
重跑: 11 steps

Validation-selected checkpoint rerun in the original environment; case return 10.25.

highway state renderer

Claude Opus 4.7

Claude Code

Held-out 分数: 9.331
Checkpoint: #004
重跑: 11 steps

Validation-selected checkpoint rerun in the original environment; case return 10.08.

highway state renderer

MiniMax-M3

Claude Code

Held-out 分数: 9.521
Checkpoint: #007
重跑: 8 steps

Validation-selected checkpoint rerun in the original environment; case return 6.500.

highway state renderer

DeepSeek-V4-Pro

Claude Code

BEST

Held-out 分数: 10.20
Checkpoint: #009
重跑: 11 steps

Validation-selected checkpoint rerun in the original environment; case return 10.17.

FetchPush

使用机械臂夹爪完成目标条件推动。

Robotics最佳报告分数 -18.16结果详情 →

direct mujoco renderer

GPT-5.5

Codex

BEST

Held-out 分数: -18.16
Checkpoint: #003
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -17.00.

direct mujoco renderer

Claude Opus 4.7

Claude Code

Held-out 分数: -19.69
Checkpoint: #008
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -11.00.

direct mujoco renderer

MiniMax-M3

Claude Code

Held-out 分数: -25.88
Checkpoint: #018
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -14.00.

direct mujoco renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -27.66
Checkpoint: #011
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -24.00.

FetchPickAndPlace

抓取、抬起并把物体放到目标位置。

Robotics最佳报告分数 -11.81结果详情 →

direct mujoco renderer

GPT-5.5

Codex

BEST

Held-out 分数: -11.81
Checkpoint: #007
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -12.00.

direct mujoco renderer

Claude Opus 4.7

Claude Code

Held-out 分数: -13.34
Checkpoint: #008
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -13.00.

direct mujoco renderer

MiniMax-M3

Claude Code

Held-out 分数: -13.22
Checkpoint: #006
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -13.00.

direct mujoco renderer

DeepSeek-V4-Pro

Claude Code

Held-out 分数: -20.56
Checkpoint: #011
重跑: 50 steps

Validation-selected checkpoint rerun in the original environment; case return -35.00.