chapter,env,num_envs,n_configs,RS,DE,RMHC,GA,CMA-ES,PSO,SA,OnePlusOneES,condition
Chap1,ant,64,135,0.02394955281659098,0.02442231791308693,0.04140530250688149,0.03052021524383631,0.03165215956630771,0.017435169933522864,0.02864152450978629,0.04504404456222888,Chap1_ant_64
Chap1,ant,128,135,0.034602533713005854,0.03766150495965613,0.05192641289986939,0.03199419984383287,0.0389884616524972,0.03972617854125525,0.049507695808302624,0.05144025457592216,Chap1_ant_128
Chap1,ant,256,135,0.045439773871581386,0.03506839082808423,0.018324992256903174,0.029677035250458443,0.044697363725890796,0.023801910625420766,0.029705141826591293,0.02492601583981589,Chap1_ant_256
Chap1,ant,512,135,0.03025462744144793,0.02598472446089129,0.09324695286391886,0.027377074035347913,0.017456411019986205,0.010832608362085303,0.0939515070610807,0.006566291819629319,Chap1_ant_512
Chap1,ant,1024,135,0.03038535308039204,0.030174883422481653,0.1282126227164158,0.00626315018987946,0.049673476330635964,0.040499359252474915,0.10910251107010263,0.0480216988243483,Chap1_ant_1024
Chap1,halfcheetah,64,135,0.11469348777731066,0.12859068440532204,0.13701732199362043,0.10505035988308238,0.09300518103387723,0.1312136857879211,0.17949125518575046,0.12702176699792636,Chap1_halfcheetah_64
Chap1,halfcheetah,128,135,0.0825982387457628,0.08830499236398151,0.14631541473219678,0.09504377012088328,0.054888845907231455,0.0193605773684845,0.14332800125525194,0.09016247169181567,Chap1_halfcheetah_128
Chap1,halfcheetah,256,135,0.09233233345708794,0.02587477302922132,0.18361627989030424,0.07873185449287852,0.1677184135533002,0.06339918409932051,0.1256482074179215,0.1212398847512042,Chap1_halfcheetah_256
Chap1,halfcheetah,512,135,0.1273595739792717,0.2047520958123731,0.09748790686727471,0.14123628899890125,0.06591350125494254,0.14342139181215136,0.11693873297011544,0.176366623923413,Chap1_halfcheetah_512
Chap1,halfcheetah,1024,135,0.17700552551043158,0.1717363832667512,0.18231495094653968,0.1917400579123558,0.22441191109812367,0.13230212505030498,0.1634871935586031,0.11937930607037914,Chap1_halfcheetah_1024
Chap1,hopper,64,135,0.0495354669883349,0.04751119254920066,0.08353303525477515,0.03974188404067433,0.05850207445009076,0.04533952518208011,0.06373289690916686,0.05315598522678424,Chap1_hopper_64
Chap1,hopper,128,135,0.04216478991528115,0.039267853328006086,0.051872916887500876,0.04305927381544502,0.036239443579227135,0.027593737820141673,0.03978257841994108,0.05645338943202784,Chap1_hopper_128
Chap1,hopper,256,135,0.05891459309133792,0.06349741609840678,0.12680090515537584,0.0918680903995683,0.10174989055565295,0.0437095522826259,0.11373039836433192,0.0962820343172474,Chap1_hopper_256
Chap1,hopper,512,135,0.05638198819031469,0.07758213789947986,0.09041184044112563,0.052002603413940196,0.09499137495560182,0.057292696935764796,0.09636931599138596,0.0831217089914079,Chap1_hopper_512
Chap1,hopper,1024,135,0.07341128754120411,0.060852836017058834,0.10156363785716718,0.06724296642517283,0.05597199629392356,0.13702865665960517,0.07199219959809718,0.07045946390053978,Chap1_hopper_1024
Chap1,walker2d,64,135,0.08612998866862158,0.069705900786968,0.09187519433252092,0.08335702077856823,0.06876717386463295,0.09251597535388498,0.07463254966568936,0.09045787252281953,Chap1_walker2d_64
Chap1,walker2d,128,135,0.06426237509817143,0.0596107945061071,0.08988382175908614,0.07592386004179591,0.055856245729000185,0.015232339536397826,0.07448446260551149,0.0890437318733036,Chap1_walker2d_128
Chap1,walker2d,256,135,0.021141614751087168,0.016806029750647704,0.047430352674800516,0.02017878962074802,0.013353415856316896,0.03831376129652796,0.014416543995101144,0.029678489069144443,Chap1_walker2d_256
Chap1,walker2d,512,135,0.04500890485327192,0.07564242766421689,0.0495571035071679,0.05656965297460141,0.03742966331385548,0.05303831628475912,0.04154582215775905,0.05887924996415422,Chap1_walker2d_512
Chap1,walker2d,1024,135,0.050149847866488996,0.02916730308622591,0.029745926439529134,0.04588004843510008,0.030694206443856835,0.035190649980933145,0.014361655595023632,0.00650634568653384,Chap1_walker2d_1024
Chap2,ant,64,135,0.04189624877436081,0.032382950468254415,0.10080192914244054,0.05501951433986848,0.031537833434117396,0.06151196855466856,0.07517552525445702,0.06206248705744376,Chap2_ant_64
Chap2,ant,128,135,0.045020419538042714,0.04543344128333507,0.04369996830836119,0.046936493206666416,0.014535408531010572,0.05420458067284615,0.02521373339095114,0.03532772624733617,Chap2_ant_128
Chap2,ant,256,135,0.017530339064139536,0.026601149629617887,0.022788178149167556,0.022213603436900452,0.01667692565540324,0.009957864950987808,0.012061737613250342,0.014258670382101235,Chap2_ant_256
Chap2,ant,512,135,0.04054770662262053,0.03302899165330439,0.043076709159641964,0.022696797781519305,0.028278743628448642,0.03234985499357457,0.030271035511438792,0.043917536947260256,Chap2_ant_512
Chap2,ant,1024,135,0.026596012768698864,0.024618156836110062,0.02246351236811902,0.018220517812728362,0.014444339410388973,0.023870411776398995,0.0194777347120181,0.024818261940578984,Chap2_ant_1024
Chap2,halfcheetah,64,135,0.03341609317767806,0.03699670158189658,0.0695912662358592,0.044642859052912195,0.04112905636027657,0.09133456747609572,0.06774277238265966,0.06985557395858122,Chap2_halfcheetah_64
Chap2,halfcheetah,128,135,0.09143738380255598,0.11536085558139134,0.14477622479337868,0.1270408946993525,0.1280171833006761,0.12407598786367142,0.10151492939957849,0.11920614072140504,Chap2_halfcheetah_128
Chap2,halfcheetah,256,135,0.14125815716712822,0.15129158219478672,0.25544218989096845,0.16041177692819436,0.21099699441569694,0.267386673049517,0.18558993935892293,0.18125243483054496,Chap2_halfcheetah_256
Chap2,halfcheetah,512,135,0.0750076949863531,0.06956273260727787,0.198050852100089,0.0998291592280118,0.0833419051289484,0.11308225700417282,0.1385268256007218,0.14876463330670003,Chap2_halfcheetah_512
Chap2,halfcheetah,1024,135,0.13727003383592667,0.09201286671392327,0.2212411050931256,0.13607967266998006,0.14281812808485417,0.14997198768453607,0.17737291498303037,0.2137704968815574,Chap2_halfcheetah_1024
Chap2,hopper,64,135,0.07311327107035256,0.07133414779580047,0.15307903326724284,0.09163674253357346,0.04065802172852516,0.1195180556926853,0.07042777313788859,0.08999134592146157,Chap2_hopper_64
Chap2,hopper,128,135,0.01754743288659085,0.03207377386698148,0.07219165134261642,0.059919302539787764,0.027299911462952752,0.03577318217801402,0.06050059373912274,0.059000465539953875,Chap2_hopper_128
Chap2,hopper,256,135,0.013056460777091758,0.01635142098723035,0.013378026130564958,0.014021707671233504,0.015350354290479689,0.021986621681726867,0.015085833678684619,0.018141782230591964,Chap2_hopper_256
Chap2,hopper,512,135,0.027524894660708028,0.03079148699779215,0.07140557208154777,0.02051706352262096,0.01378534347098403,0.041753222308751455,0.0535044947414345,0.0439934958021599,Chap2_hopper_512
Chap2,hopper,1024,135,0.06377073955891639,0.049675176403804706,0.061226560543697774,0.04707119176393024,0.03631527883952578,0.05849720982696194,0.053591710683187445,0.042997646658559416,Chap2_hopper_1024
Chap2,walker2d,64,135,0.0903495068833706,0.05392154421568958,0.036074874707672885,0.06251023358001313,0.033945038847528204,0.05509136632546345,0.03448658528239109,0.042651437814818366,Chap2_walker2d_64
Chap2,walker2d,128,135,0.03750464585672341,0.06575715543872587,0.0790291142883598,0.04267435955571982,0.0387288236503761,0.06980002360245802,0.06366417047848377,0.07169271162389948,Chap2_walker2d_128
Chap2,walker2d,256,135,0.036420018981391036,0.04385969384055299,0.07461795395108584,0.03951350755662871,0.022227895970441593,0.05618573249139229,0.028258971716753012,0.030973121368485245,Chap2_walker2d_256
Chap2,walker2d,512,135,0.037724207905624724,0.05620309685809771,0.04149108385518911,0.036932017771997554,0.02705781345514825,0.0774467248618214,0.048978831605646124,0.029793820087366595,Chap2_walker2d_512
Chap2,walker2d,1024,135,0.047388470566641736,0.0449902780208155,0.06758652133937629,0.030321153846796706,0.01107198585010968,0.05334091139985102,0.06204837495211214,0.02282322417600524,Chap2_walker2d_1024
Chap3,ant,64,80,0.025936384783701267,0.025613026771689907,0.07034443367523244,0.02164953960602492,0.017870250539615967,0.03154899852809744,0.032354137425430404,0.039869772393592046,Chap3_ant_64
Chap3,ant,128,80,0.007815122012774272,0.004212628208788512,0.005705519074402118,0.020886889331134584,0.004290207636793884,0.00972325238631647,0.004701856793932894,0.004323984785166391,Chap3_ant_128
Chap3,ant,256,80,0.016847116823584665,0.032545150685920385,0.04480805258461259,0.013177959796374927,0.015086265749682743,0.043978497272183927,0.010530084674043646,0.022670682489652583,Chap3_ant_256
Chap3,ant,512,80,0.10431896857749831,0.0687501138187184,0.05508201345406777,0.06042236482044072,0.050445634841099096,0.09963035161593312,0.013261418466263183,0.033189133978009364,Chap3_ant_512
Chap3,ant,1024,80,0.05250792779413198,0.08977854667309389,0.04140659465258134,0.017972454508349847,0.025291867597652652,0.07190604909404652,0.0181632809578842,0.039128649289547075,Chap3_ant_1024
Chap3,halfcheetah,64,80,0.006320084307199955,0.03512656619470192,0.1343701588588926,0.025395467714842534,0.013271168107158398,0.00693407042890454,0.09133855995817879,0.022361334047603404,Chap3_halfcheetah_64
Chap3,halfcheetah,128,80,0.06045263873293194,0.049199547881499626,0.08680063070429947,0.08227624435115102,0.0493326827092401,0.09019054629793412,0.12025706796158683,0.08890968077440949,Chap3_halfcheetah_128
Chap3,halfcheetah,256,80,0.12354492921914033,0.1377281654798253,0.17849405836172255,0.21814028739108493,0.16045573032688695,0.10276819913895248,0.2852185639500874,0.1322111694084906,Chap3_halfcheetah_256
Chap3,halfcheetah,512,80,0.18445780646793003,0.10404676574395803,0.1313555877786079,0.13641778181825726,0.1404111837516058,0.0965428272103224,0.08077620942055624,0.05715351394587097,Chap3_halfcheetah_512
Chap3,halfcheetah,1024,80,0.1437930772369255,0.051701296138566964,0.106467972793662,0.06257649587725322,0.12724398502784123,0.05214587118899493,0.08940876792160235,0.0032150704862611208,Chap3_halfcheetah_1024
Chap3,hopper,64,80,0.04964307761094718,0.03734529352005887,0.14574632020628442,0.06054373218620779,0.08350812467223105,0.11081588087637106,0.08787842858748598,0.09677146406966015,Chap3_hopper_64
Chap3,hopper,128,80,0.018117549739243805,0.018039066494801966,0.027536448549767258,0.03410530774806704,0.024808116743267,0.028206436669611378,0.014347689173354331,0.013671067591729336,Chap3_hopper_128
Chap3,hopper,256,80,0.009395854000755785,0.015873444764172625,0.03688795914367358,0.02086678642165511,0.007413898327437177,0.021781272424769387,0.042742918685556,0.019554922039942607,Chap3_hopper_256
Chap3,hopper,512,80,0.032458582729797826,0.06649088636463946,0.06990835520588534,0.08208474177106082,0.02613220023407557,0.054505710513565876,0.048859033882865666,0.07343307562844655,Chap3_hopper_512
Chap3,hopper,1024,80,0.024938315566714827,0.019985690868819645,0.03626885401174655,0.028347946022615374,0.014860209000387151,0.026360949756696707,0.014570374311299202,0.026875549250270008,Chap3_hopper_1024
Chap3,walker2d,64,80,0.04071734366945675,0.03424771818784851,0.020985042253029666,0.030204928777787014,0.019978051703214553,0.023717457684116823,0.02406720172386804,0.03255071870258788,Chap3_walker2d_64
Chap3,walker2d,128,80,0.037031445427707255,0.032414934468925696,0.07535647923081845,0.02181849632143168,0.01050537670936652,0.012215557719148631,0.03723093163238822,0.05387722686148708,Chap3_walker2d_128
Chap3,walker2d,256,80,0.06856085957746101,0.03742169182190312,0.0037567299123505366,0.024898563375499734,0.02938400124741781,0.048908404474917025,0.014843568461408413,0.033968097584951604,Chap3_walker2d_256
Chap3,walker2d,512,80,0.03211392869361688,0.021818397523873767,0.008111612176675503,0.009139383943693995,0.028648834730124518,0.0139002212783507,0.005001221534849622,0.008886834178925041,Chap3_walker2d_512
Chap3,walker2d,1024,80,0.05961359646661892,0.014314994261555322,0.03767419660961819,0.04209861273308601,0.02810956632940942,0.07311864183369549,0.047943931608097484,0.03735962858871989,Chap3_walker2d_1024
Chap4,ant,64,135,0.053666237933338065,0.042829462783932286,0.05662362016533139,0.0659613547776658,0.04271731730344605,0.04373002807626007,0.041346831802402714,0.06366638528836428,Chap4_ant_64
Chap4,ant,128,135,0.021743168180996232,0.022177592814306347,0.027011131053066663,0.031289266176168444,0.008964566761970664,0.011447271543456575,0.0319312898192788,0.01505120008794128,Chap4_ant_128
Chap4,ant,256,135,0.05610743355356298,0.05368894712830576,0.08619664075424835,0.05736913982613001,0.057366138783887466,0.031216621876169286,0.06745425916732992,0.07434272978035264,Chap4_ant_256
Chap4,ant,512,135,0.01614110241413675,0.026283183524928522,0.033333073201979,0.02020605210095331,0.030513923611854604,0.018867692054449214,0.018755845323597548,0.01706932360607169,Chap4_ant_512
Chap4,ant,1024,135,0.059029471113987673,0.05207507248339677,0.029417412126016652,0.04695858220459943,0.04955707215079438,0.021764602075058127,0.04971180218826525,0.05052441404550535,Chap4_ant_1024
Chap4,halfcheetah,64,135,0.08350170930322469,0.1132335037472183,0.09092890095958472,0.10311641619743346,0.11565317541177367,0.05927113728797392,0.0858221484763396,0.08969759379187422,Chap4_halfcheetah_64
Chap4,halfcheetah,128,135,0.08998697773948117,0.07131087721652676,0.11760492084579857,0.11824388105746493,0.1447083256240497,0.14359095190331472,0.120728275633194,0.14481481301099372,Chap4_halfcheetah_128
Chap4,halfcheetah,256,135,0.03654927891065933,0.0338920918501591,0.07679965876643205,0.014368741488568015,0.022820792050641768,0.008776677714118972,0.10294679402580202,0.06263968734277195,Chap4_halfcheetah_256
Chap4,halfcheetah,512,135,0.1788660607262225,0.17644882793070635,0.22650244837739852,0.15151849328833875,0.09882709138192516,0.1602253763957676,0.2727644301406353,0.21758313032517954,Chap4_halfcheetah_512
Chap4,halfcheetah,1024,135,0.09270769929474104,0.07064056546865614,0.04185799044023364,0.104011714676373,0.03763879676252348,0.027312982599871544,0.10422908973956754,0.05100811785765687,Chap4_halfcheetah_1024
Chap4,hopper,64,135,0.03784538401836082,0.05385232417975446,0.07668103602249783,0.06833424545365857,0.06566906782905045,0.0465976777499114,0.05329843188506219,0.06752737602576843,Chap4_hopper_64
Chap4,hopper,128,135,0.07692769308401151,0.08942361463749415,0.11850250726325329,0.09979124580935678,0.08431935533265175,0.06607952027994382,0.09362392268721739,0.10442635752076472,Chap4_hopper_128
Chap4,hopper,256,135,0.02583324304585702,0.034623714133294174,0.07402584473578915,0.04104189396875535,0.023692545951525087,0.025002335040222874,0.05023744874565035,0.06405891268592662,Chap4_hopper_256
Chap4,hopper,512,135,0.01787829397389041,0.030975391029165945,0.011870047178350787,0.03015355653033542,0.014239558066609193,0.0024803526681058774,0.018962080763554563,0.04037712213880491,Chap4_hopper_512
Chap4,hopper,1024,135,0.05164128948791961,0.042318869685564864,0.04723049830753951,0.03207253862944905,0.04968783243938473,0.03599511666930229,0.05751013419949606,0.03911612419425882,Chap4_hopper_1024
Chap4,walker2d,64,135,0.05542150050990528,0.06224671089910536,0.08975138208632463,0.0417154597722389,0.03193688840359971,0.061587131664456216,0.08436690181383849,0.059292801022950724,Chap4_walker2d_64
Chap4,walker2d,128,135,0.07555551546654761,0.07976740012503282,0.04964101366831688,0.051940351018680574,0.03834435117204751,0.023640939784680404,0.045990995213436185,0.04557387670602138,Chap4_walker2d_128
Chap4,walker2d,256,135,0.026710097909591817,0.036840587813347536,0.024371834905843097,0.03824534210987536,0.018576104655824047,0.025322029377733223,0.027128661319299457,0.02932007890894096,Chap4_walker2d_256
Chap4,walker2d,512,135,0.028507708608723887,0.054254855340105414,0.02452335217939814,0.03637128847926373,0.025170415550114476,0.02872932318106436,0.0018100146403232536,0.006978895318207777,Chap4_walker2d_512
Chap4,walker2d,1024,135,0.08776559516612174,0.08230608006425061,0.05959286211474272,0.08182669213472941,0.04277956366225942,0.041791733403151204,0.036493873933140145,0.10220091940142162,Chap4_walker2d_1024
Chap5,ant,64,135,0.03230350199948546,0.03223389821691618,0.0544301085118364,0.03969136227186639,0.019378995526243704,0.019729814960771246,0.05199320829676211,0.05206007956148795,Chap5_ant_64
Chap5,ant,128,135,0.014194766861689412,0.008359752773543503,0.024966731311237302,0.022401183031254164,0.017298475120750747,0.019384799142201117,0.018503889826562953,0.02151143596901786,Chap5_ant_128
Chap5,ant,256,135,0.015384441209600652,0.011445522767249323,0.018616941571322553,0.007387873765661798,0.008645672003372486,0.01220476468242473,0.009618141339527509,0.014861610475184181,Chap5_ant_256
Chap5,ant,512,135,0.023864059199393918,0.03451281625381377,0.018805121696254458,0.03218974706492728,0.02212206490333237,0.023887118383431244,0.02099596672055661,0.02148481652858098,Chap5_ant_512
Chap5,ant,1024,135,0.010757372679563126,0.01850093904571778,0.19038160822292843,0.06407684535131139,0.026526214581505336,0.013266844544643283,0.03606184618592212,0.03558228963874059,Chap5_ant_1024
Chap5,halfcheetah,64,135,0.026187871722173822,0.03585358751839256,0.05619859790765044,0.06420326286070048,0.03734467644415722,0.01828773031690179,0.049013258871793496,0.05654616351440189,Chap5_halfcheetah_64
Chap5,halfcheetah,128,135,0.10283439291426452,0.10191011094511244,0.12109830467278733,0.12477470309948861,0.08967469099099717,0.13867968870612762,0.11389059534534685,0.12039802723972567,Chap5_halfcheetah_128
Chap5,halfcheetah,256,135,0.07835551512870918,0.07017243764211191,0.11346633366590915,0.04369176892926476,0.09676995755109039,0.08352909071124856,0.16701643583281098,0.09641480822831174,Chap5_halfcheetah_256
Chap5,halfcheetah,512,135,0.04517322451599555,0.04958079391389757,0.04336089175660681,0.04553655440178258,0.04538632500546276,0.02560956417074643,0.05286261541925791,0.034346564860868366,Chap5_halfcheetah_512
Chap5,halfcheetah,1024,135,0.1067012845197719,0.1015922031755129,0.09004599190839399,0.09070609118221636,0.06920256767351371,0.07158007883512763,0.14538575952419736,0.08597484331393519,Chap5_halfcheetah_1024
Chap5,hopper,64,135,0.016535921346676464,0.027546652902213642,0.12994395641203,0.03329949762619369,0.030522264093946094,0.05373323087619251,0.08963593429636563,0.07110877590885775,Chap5_hopper_64
Chap5,hopper,128,135,0.01460505728191594,0.01915739699391423,0.05150071621705513,0.05012518734668311,0.0212515469172432,0.016015764749901205,0.027494451951615158,0.046873647652058814,Chap5_hopper_128
Chap5,hopper,256,135,0.03556956236789563,0.048506102242968925,0.08783706327817292,0.044822416395416516,0.026744975474725256,0.03658293731930966,0.08023844384844789,0.06950444980993964,Chap5_hopper_256
Chap5,hopper,512,135,0.014059683887544114,0.017921184863701776,0.06160472721738454,0.040555840387201926,0.013339118974308197,0.01985153612303204,0.04560241177349188,0.05259657323039274,Chap5_hopper_512
Chap5,hopper,1024,135,0.12200657190479414,0.10701752530340566,0.15691257246988935,0.1414030784270482,0.1290170733500984,0.13573817370129707,0.12801675137367877,0.15301613469851746,Chap5_hopper_1024
Chap5,walker2d,64,135,0.05337268997734547,0.05783264365820865,0.07533437378915711,0.0473212914224752,0.0521856823834481,0.06342124656685673,0.053050345448178424,0.06968538320053952,Chap5_walker2d_64
Chap5,walker2d,128,135,0.020612287082414128,0.017210369360832402,0.02868758612298931,0.024579376287503934,0.02017036586474156,0.03228969040337174,0.028451089280574084,0.028388957613750772,Chap5_walker2d_128
Chap5,walker2d,256,135,0.07021069268089405,0.06699225817969734,0.07624179956273727,0.05360395148126286,0.051578501945184194,0.05926397006773767,0.07330420517879044,0.09631069770636594,Chap5_walker2d_256
Chap5,walker2d,512,135,0.055568677867273694,0.055116587542777803,0.04407935300958636,0.037964656999491954,0.06439034727667901,0.028095620842519608,0.041697805309108604,0.039963870446266384,Chap5_walker2d_512
Chap5,walker2d,1024,135,0.11940024142742356,0.11100639058028432,0.053142323869622234,0.09786769990691827,0.122211942583174,0.12561865959397447,0.04466103404045908,0.07921835141829148,Chap5_walker2d_1024