Who leads the MuJoCo benchmark?

TD3 currently leads MuJoCo with a score of 5592 on Average Return.

What is the state-of-the-art score on MuJoCo?

The state-of-the-art result on MuJoCo is 5592 (Average Return), achieved by TD3 as of 2026.

Codesota tracks 12 models on MuJoCo.

The MuJoCo leaderboard on Codesota includes results through 2026.

Google DeepMind

Name: MuJoCo Benchmark Results
Creator: Google DeepMind
Published: 2026-01-01
License: https://creativecommons.org/licenses/by/4.0/

Physics engine for continuous control tasks like walking, running, and manipulation.

§ 01 · Leaderboard

Found a wrong score or missing run?

Use row edits to send a sourced correction into moderation.

Mean episodic return averaged across HalfCheetah, Hopper, and Walker2d at 1M steps.

Higher is better

Trust tiers for Average Returnverifiedpapervendorcommunityunverified

Muted rows were not state of the art when published — an earlier or same-year result already scored better.

Rank	Model	Trust	Score	Year	Links	Fix
01	TD3 Fetched from CodeSOTA API on 2026-04-20	verified	5592	2026	Source ↗	Looks wrong?
02	SAC Fetched from CodeSOTA API on 2026-04-20	verified	5179	2026	Source ↗	Looks wrong?
03	PPO Fetched from CodeSOTA API on 2026-04-20	verified	2038	2026	Source ↗	Looks wrong?
04	TD-MPC2 (317M params) Fetched from CodeSOTA API on 2026-04-20	vendor	960	2026	Source ↗	Looks wrong?
05	TD-MPC2 (19M params) Fetched from CodeSOTA API on 2026-04-20	vendor	953	2026	Source ↗	Looks wrong?
06	FOWM Fetched from CodeSOTA API on 2026-04-20	vendor	945	2026	Source ↗	Looks wrong?
07	BRO Fetched from CodeSOTA API on 2026-04-20	vendor	941	2026	Source ↗	Looks wrong?
08	TD-MPC2 (5M params) Fetched from CodeSOTA API on 2026-04-20	vendor	929	2026	Source ↗	Looks wrong?
09	DreamerV3 Fetched from CodeSOTA API on 2026-04-20	vendor	897	2026	Source ↗	Looks wrong?
10	TD-MPC Fetched from CodeSOTA API on 2026-04-20	vendor	857	2026	Source ↗	Looks wrong?
11	DrQ-v2 Fetched from CodeSOTA API on 2026-04-20	vendor	799	2026	Source ↗	Looks wrong?
12	SAC (state-based) Fetched from CodeSOTA API on 2026-04-20	vendor	777	2026	Source ↗	Looks wrong?

§ 04 · Submit a result