For a nice model like yours I have to recommend as a benchmark environment of the neuroscientific moving invisible shock zone arena. I ended up needing one for my minimal system, where the challenge is to (from nerobiological information) demonstrate two frame place avoidance as well or better than a live rat, using the least amount of code.
A simple virtual 2D environment with robot platform type left/right and forward/reverse control helps keep the test equal. This focuses on what is most important to fully understand and test before adding a third dimension to the environment.
Game engines look wonderful and have fast graphics. But neuroscience needs what neuroscientists use in the lab, where normally it is a 2D problem that the animals must solve.
I found this test that delivers a shock when at the wrong place at the right time is very good for indicating when the code needs work. There is also the useful signal information for live rats in the paper that goes with it. This adds another level of testing where the model must somehow match experimental data. A neuroscientist then better understands how a model relates to biology, and has a reason to take it seriously.
You have talent this forum needs. Numenta is on a neuroscientific mission where the best thing to have is what the animal labs use to test navigational skills and other behaviors. I hope that sounds like something you would be interested in helping to develop.