TASK	DATASET	MODEL	METRIC NAME	METRIC VALUE	GLOBAL RANK
Atari Games	Atari 2600 Alien	ES FF (1 hour) noop	Score	994.0	# 39
Atari Games	Atari 2600 Amidar	ES FF (1 hour) noop	Score	112.0	# 46
Atari Games	Atari 2600 Assault	ES FF (1 hour) noop	Score	1673.9	# 38
Atari Games	Atari 2600 Asterix	ES FF (1 hour) noop	Score	1440	# 45
Atari Games	Atari 2600 Asteroids	ES FF (1 hour) noop	Score	1562.0	# 32
Atari Games	Atari 2600 Atlantis	ES FF (1 hour) noop	Score	1267410.0	# 9
Atari Games	Atari 2600 Bank Heist	ES FF (1 hour) noop	Score	225.0	# 40
Atari Games	Atari 2600 Battle Zone	ES FF (1 hour) noop	Score	16600.0	# 39
Atari Games	Atari 2600 Beam Rider	ES FF (1 hour) noop	Score	744.0	# 47
Atari Games	Atari 2600 Berzerk	ES FF (1 hour) noop	Score	686.0	# 35
Atari Games	Atari 2600 Bowling	ES FF (1 hour) noop	Score	30	# 43
Atari Games	Atari 2600 Boxing	ES FF (1 hour) noop	Score	49.8	# 39
Atari Games	Atari 2600 Breakout	ES FF (1 hour) noop	Score	9.5	# 56
Atari Games	Atari 2600 Centipede	ES FF (1 hour) noop	Score	7783.9	# 22
Atari Games	Atari 2600 Chopper Command	ES FF (1 hour) noop	Score	3710.0	# 37
Atari Games	Atari 2600 Crazy Climber	ES FF (1 hour) noop	Score	26430.0	# 45
Atari Games	Atari 2600 Demon Attack	ES FF (1 hour) noop	Score	1166.5	# 42
Atari Games	Atari 2600 Double Dunk	ES FF (1 hour) noop	Score	0.2	# 21
Atari Games	Atari 2600 Enduro	ES FF (1 hour) noop	Score	95.0	# 41
Atari Games	Atari 2600 Fishing Derby	ES FF (1 hour) noop	Score	-49.0	# 36
Atari Games	Atari 2600 Freeway	ES FF (1 hour) noop	Score	31.0	# 30
Atari Games	Atari 2600 Frostbite	ES FF (1 hour) noop	Score	370.0	# 41
Atari Games	Atari 2600 Gopher	ES FF (1 hour) noop	Score	582.0	# 43
Atari Games	Atari 2600 Gravitar	ES FF (1 hour) noop	Score	805.0	# 25
Atari Games	Atari 2600 Ice Hockey	ES FF (1 hour) noop	Score	-4.1	# 20
Atari Games	Atari 2600 Kangaroo	ES FF (1 hour) noop	Score	11200.0	# 23
Atari Games	Atari 2600 Krull	ES FF (1 hour) noop	Score	8647.2	# 25
Atari Games	Atari 2600 Name This Game	ES FF (1 hour) noop	Score	4503.0	# 39
Atari Games	Atari 2600 Pong	ES FF (1 hour) noop	Score	21.0	# 1
Atari Games	Atari 2600 Private Eye	ES FF (1 hour) noop	Score	100.0	# 43
Atari Games	Atari 2600 Q*Bert	ES FF (1 hour) noop	Score	147.5	# 55
Atari Games	Atari 2600 River Raid	ES FF (1 hour) noop	Score	5009.0	# 35
Atari Games	Atari 2600 Road Runner	ES FF (1 hour) noop	Score	16590.0	# 38
Atari Games	Atari 2600 Robotank	ES FF (1 hour) noop	Score	11.9	# 38
Atari Games	Atari 2600 Seaquest	ES FF (1 hour) noop	Score	1390.0	# 45
Atari Games	Atari 2600 Space Invaders	ES FF (1 hour) noop	Score	678.5	# 47
Atari Games	Atari 2600 Star Gunner	ES FF (1 hour) noop	Score	1470.0	# 39
Atari Games	Atari 2600 Tennis	ES FF (1 hour) noop	Score	-4.5	# 29
Atari Games	Atari 2600 Time Pilot	ES FF (1 hour) noop	Score	4970.0	# 36
Atari Games	Atari 2600 Tutankham	ES FF (1 hour) noop	Score	130.3	# 32
Atari Games	Atari 2600 Up and Down	ES FF (1 hour) noop	Score	67974.0	# 19
Atari Games	Atari 2600 Venture	ES FF (1 hour) noop	Score	760.0	# 20
Atari Games	Atari 2600 Video Pinball	ES FF (1 hour) noop	Score	22834.8	# 40
Atari Games	Atari 2600 Wizard of Wor	ES FF (1 hour) noop	Score	3480.0	# 35
Atari Games	Atari 2600 Zaxxon	ES FF (1 hour) noop	Score	6380.0	# 33

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	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-ice-hockey)](https://paperswithcode.com/sota/atari-games-on-atari-2600-ice-hockey?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-venture)](https://paperswithcode.com/sota/atari-games-on-atari-2600-venture?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-double-dunk)](https://paperswithcode.com/sota/atari-games-on-atari-2600-double-dunk?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-centipede)](https://paperswithcode.com/sota/atari-games-on-atari-2600-centipede?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-kangaroo)](https://paperswithcode.com/sota/atari-games-on-atari-2600-kangaroo?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-gravitar)](https://paperswithcode.com/sota/atari-games-on-atari-2600-gravitar?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-krull)](https://paperswithcode.com/sota/atari-games-on-atari-2600-krull?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-tennis)](https://paperswithcode.com/sota/atari-games-on-atari-2600-tennis?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-freeway)](https://paperswithcode.com/sota/atari-games-on-atari-2600-freeway?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-asteroids)](https://paperswithcode.com/sota/atari-games-on-atari-2600-asteroids?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-tutankham)](https://paperswithcode.com/sota/atari-games-on-atari-2600-tutankham?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-zaxxon)](https://paperswithcode.com/sota/atari-games-on-atari-2600-zaxxon?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-berzerk)](https://paperswithcode.com/sota/atari-games-on-atari-2600-berzerk?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-river-raid)](https://paperswithcode.com/sota/atari-games-on-atari-2600-river-raid?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-wizard-of-wor)](https://paperswithcode.com/sota/atari-games-on-atari-2600-wizard-of-wor?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-fishing-derby)](https://paperswithcode.com/sota/atari-games-on-atari-2600-fishing-derby?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-time-pilot)](https://paperswithcode.com/sota/atari-games-on-atari-2600-time-pilot?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-chopper-command)](https://paperswithcode.com/sota/atari-games-on-atari-2600-chopper-command?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-assault)](https://paperswithcode.com/sota/atari-games-on-atari-2600-assault?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-road-runner)](https://paperswithcode.com/sota/atari-games-on-atari-2600-road-runner?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-robotank)](https://paperswithcode.com/sota/atari-games-on-atari-2600-robotank?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-alien)](https://paperswithcode.com/sota/atari-games-on-atari-2600-alien?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-battle-zone)](https://paperswithcode.com/sota/atari-games-on-atari-2600-battle-zone?p=evolution-strategies-as-a-scalable)`
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	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-name-this-game)](https://paperswithcode.com/sota/atari-games-on-atari-2600-name-this-game?p=evolution-strategies-as-a-scalable)`
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	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-bank-heist)](https://paperswithcode.com/sota/atari-games-on-atari-2600-bank-heist?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-video-pinball)](https://paperswithcode.com/sota/atari-games-on-atari-2600-video-pinball?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-enduro)](https://paperswithcode.com/sota/atari-games-on-atari-2600-enduro?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-frostbite)](https://paperswithcode.com/sota/atari-games-on-atari-2600-frostbite?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-demon-attack)](https://paperswithcode.com/sota/atari-games-on-atari-2600-demon-attack?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-bowling)](https://paperswithcode.com/sota/atari-games-on-atari-2600-bowling?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-gopher)](https://paperswithcode.com/sota/atari-games-on-atari-2600-gopher?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-private-eye)](https://paperswithcode.com/sota/atari-games-on-atari-2600-private-eye?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-asterix)](https://paperswithcode.com/sota/atari-games-on-atari-2600-asterix?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-crazy-climber)](https://paperswithcode.com/sota/atari-games-on-atari-2600-crazy-climber?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-seaquest)](https://paperswithcode.com/sota/atari-games-on-atari-2600-seaquest?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-amidar)](https://paperswithcode.com/sota/atari-games-on-atari-2600-amidar?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-beam-rider)](https://paperswithcode.com/sota/atari-games-on-atari-2600-beam-rider?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-space-invaders)](https://paperswithcode.com/sota/atari-games-on-atari-2600-space-invaders?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-qbert)](https://paperswithcode.com/sota/atari-games-on-atari-2600-qbert?p=evolution-strategies-as-a-scalable)`
	`[![PWC](https://img.shields.io/endpoint.svg?url=https://paperswithcode.com/badge/evolution-strategies-as-a-scalable/atari-games-on-atari-2600-breakout)](https://paperswithcode.com/sota/atari-games-on-atari-2600-breakout?p=evolution-strategies-as-a-scalable)`

Evolution Strategies as a Scalable Alternative to Reinforcement Learning

10 Mar 2017 · Tim Salimans, Jonathan Ho, Xi Chen, Szymon Sidor, Ilya Sutskever ·

We explore the use of Evolution Strategies (ES), a class of black box optimization algorithms, as an alternative to popular MDP-based RL techniques such as Q-learning and Policy Gradients. Experiments on MuJoCo and Atari show that ES is a viable solution strategy that scales extremely well with the number of CPUs available: By using a novel communication strategy based on common random numbers, our ES implementation only needs to communicate scalars, making it possible to scale to over a thousand parallel workers. This allows us to solve 3D humanoid walking in 10 minutes and obtain competitive results on most Atari games after one hour of training. In addition, we highlight several advantages of ES as a black box optimization technique: it is invariant to action frequency and delayed rewards, tolerant of extremely long horizons, and does not need temporal discounting or value function approximation.

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ray-project/ray

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Atari Games

Q-Learning

reinforcement-learning

Reinforcement Learning (RL)

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MuJoCo

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Ranked #1 on Atari Games on Atari 2600 Pong

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Task	Dataset	Model	Metric Name	Metric Value	Global Rank	Benchmark
Atari Games	Atari 2600 Alien	ES FF (1 hour) noop	Score	994.0	# 39	Compare
Atari Games	Atari 2600 Amidar	ES FF (1 hour) noop	Score	112.0	# 46	Compare
Atari Games	Atari 2600 Assault	ES FF (1 hour) noop	Score	1673.9	# 38	Compare
Atari Games	Atari 2600 Asterix	ES FF (1 hour) noop	Score	1440	# 45	Compare
Atari Games	Atari 2600 Asteroids	ES FF (1 hour) noop	Score	1562.0	# 32	Compare
Atari Games	Atari 2600 Atlantis	ES FF (1 hour) noop	Score	1267410.0	# 9	Compare
Atari Games	Atari 2600 Bank Heist	ES FF (1 hour) noop	Score	225.0	# 40	Compare
Atari Games	Atari 2600 Battle Zone	ES FF (1 hour) noop	Score	16600.0	# 39	Compare
Atari Games	Atari 2600 Beam Rider	ES FF (1 hour) noop	Score	744.0	# 47	Compare
Atari Games	Atari 2600 Berzerk	ES FF (1 hour) noop	Score	686.0	# 35	Compare
Atari Games	Atari 2600 Bowling	ES FF (1 hour) noop	Score	30	# 43	Compare
Atari Games	Atari 2600 Boxing	ES FF (1 hour) noop	Score	49.8	# 39	Compare
Atari Games	Atari 2600 Breakout	ES FF (1 hour) noop	Score	9.5	# 56	Compare
Atari Games	Atari 2600 Centipede	ES FF (1 hour) noop	Score	7783.9	# 22	Compare
Atari Games	Atari 2600 Chopper Command	ES FF (1 hour) noop	Score	3710.0	# 37	Compare
Atari Games	Atari 2600 Crazy Climber	ES FF (1 hour) noop	Score	26430.0	# 45	Compare
Atari Games	Atari 2600 Demon Attack	ES FF (1 hour) noop	Score	1166.5	# 42	Compare
Atari Games	Atari 2600 Double Dunk	ES FF (1 hour) noop	Score	0.2	# 21	Compare
Atari Games	Atari 2600 Enduro	ES FF (1 hour) noop	Score	95.0	# 41	Compare
Atari Games	Atari 2600 Fishing Derby	ES FF (1 hour) noop	Score	-49.0	# 36	Compare
Atari Games	Atari 2600 Freeway	ES FF (1 hour) noop	Score	31.0	# 30	Compare
Atari Games	Atari 2600 Frostbite	ES FF (1 hour) noop	Score	370.0	# 41	Compare
Atari Games	Atari 2600 Gopher	ES FF (1 hour) noop	Score	582.0	# 43	Compare
Atari Games	Atari 2600 Gravitar	ES FF (1 hour) noop	Score	805.0	# 25	Compare
Atari Games	Atari 2600 Ice Hockey	ES FF (1 hour) noop	Score	-4.1	# 20	Compare
Atari Games	Atari 2600 Kangaroo	ES FF (1 hour) noop	Score	11200.0	# 23	Compare
Atari Games	Atari 2600 Krull	ES FF (1 hour) noop	Score	8647.2	# 25	Compare
Atari Games	Atari 2600 Name This Game	ES FF (1 hour) noop	Score	4503.0	# 39	Compare
Atari Games	Atari 2600 Pong	ES FF (1 hour) noop	Score	21.0	# 1	Compare
Atari Games	Atari 2600 Private Eye	ES FF (1 hour) noop	Score	100.0	# 43	Compare
Atari Games	Atari 2600 Q*Bert	ES FF (1 hour) noop	Score	147.5	# 55	Compare
Atari Games	Atari 2600 River Raid	ES FF (1 hour) noop	Score	5009.0	# 35	Compare
Atari Games	Atari 2600 Road Runner	ES FF (1 hour) noop	Score	16590.0	# 38	Compare
Atari Games	Atari 2600 Robotank	ES FF (1 hour) noop	Score	11.9	# 38	Compare
Atari Games	Atari 2600 Seaquest	ES FF (1 hour) noop	Score	1390.0	# 45	Compare
Atari Games	Atari 2600 Space Invaders	ES FF (1 hour) noop	Score	678.5	# 47	Compare
Atari Games	Atari 2600 Star Gunner	ES FF (1 hour) noop	Score	1470.0	# 39	Compare
Atari Games	Atari 2600 Tennis	ES FF (1 hour) noop	Score	-4.5	# 29	Compare
Atari Games	Atari 2600 Time Pilot	ES FF (1 hour) noop	Score	4970.0	# 36	Compare
Atari Games	Atari 2600 Tutankham	ES FF (1 hour) noop	Score	130.3	# 32	Compare
Atari Games	Atari 2600 Up and Down	ES FF (1 hour) noop	Score	67974.0	# 19	Compare
Atari Games	Atari 2600 Venture	ES FF (1 hour) noop	Score	760.0	# 20	Compare
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