Table 2. 
Summary of results for bipedal walker environments. Scaled Box2D dimensions reported.
BipedalWalker-v2Avg. scoreleg areaTop leg 1Bottom leg 1Top leg 2Bottom leg 2
whwhwhwh
Original 347 ± 0.9 100% 8.0 34.0 6.4 34.0 8.0 34.0 6.4 34.0 
Learnable 359 ± 0.2 33% 2.0 57.3 1.6 46.0 2.0 48.8 1.6 18.9 
Reward smaller leg 323 ± 68 8% 2.0 11.5 1.6 10.6 2.0 11.4 1.6 10.2 
  
BipedalWalkerHardcore-v2Avg. scoreleg areaTop leg 1Bottom leg 1Top leg 2Bottom leg 2
whwhwhwh
Original 313 ± 53 100% 8.0 34.0 6.4 34.0 8.0 34.0 6.4 34.0 
Learnable 335 ± 37 95% 2.7 59.3 10.0 58.9 2.3 55.5 1.7 34.6 
Reward smaller leg 312 ± 69 27% 2.0 35.3 1.6 47.1 2.0 36.2 1.6 26.7 
BipedalWalker-v2Avg. scoreleg areaTop leg 1Bottom leg 1Top leg 2Bottom leg 2
whwhwhwh
Original 347 ± 0.9 100% 8.0 34.0 6.4 34.0 8.0 34.0 6.4 34.0 
Learnable 359 ± 0.2 33% 2.0 57.3 1.6 46.0 2.0 48.8 1.6 18.9 
Reward smaller leg 323 ± 68 8% 2.0 11.5 1.6 10.6 2.0 11.4 1.6 10.2 
  
BipedalWalkerHardcore-v2Avg. scoreleg areaTop leg 1Bottom leg 1Top leg 2Bottom leg 2
whwhwhwh
Original 313 ± 53 100% 8.0 34.0 6.4 34.0 8.0 34.0 6.4 34.0 
Learnable 335 ± 37 95% 2.7 59.3 10.0 58.9 2.3 55.5 1.7 34.6 
Reward smaller leg 312 ± 69 27% 2.0 35.3 1.6 47.1 2.0 36.2 1.6 26.7 
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