D4RL
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
D4RL walker2d-medium-replay
99.3Normalized Score
62
D4RL Hopper-medium-expert v2
116.5Normalized Return
61
D4RL MuJoCo halfcheetah-medium-expert
104.5Normalized Score
54
D4RL walker2d-medium-expert v2
115.4Normalized Score
54
D4RL Gym hopper-medium
104.8Normalized Return
54
D4RL Adroit pen (cloned)
117.4Normalized Return
53
D4RL Adroit pen (human)
128.3Normalized Return
53
D4RL halfcheetah-medium-expert
105.9Normalized Score
53
D4RL hopper medium-expert
115.9Normalized Score
53
D4RL Medium-Replay Walker2d
97Normalized Score
52
D4RL Gym hopper (medium-replay)
105.6Normalized Return
49
D4RL MuJoCo walker2d-medium-expert
114.2Normalized Score
47
D4RL MuJoCo halfcheetah-medium-replay
0.62Normalized Score
47
D4RL antmaze-large (diverse)
88Normalized Score
47
D4RL antmaze-large (play)
90Normalized Score
47
D4RL Franka Kitchen
85Mixed Success Rate
43
D4RL Gym hopper-expert
112.8Normalized Avg Return
43
D4RL MuJoCo hopper-medium-replay
104.5Normalized Score
42
D4RL Gym hopper-medium-expert
112.7Normalized Avg Return
41
D4RL hopper medium
101.2Normalized Score
38
D4RL hopper medium v2
109.4Normalized Score
36
D4RL Gym halfcheetah-expert
112.8Normalized Return
36
D4RL halfcheetah-random v2
45.4Normalized Score
35
D4RL walker2d-random v2
23.5Normalized Score
35
D4RL hopper-random v2
38.1Normalized Score
35