D4RL
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
D4RL Hopper Medium
1,392.93Reward
35
D4RL MuJoCo walker2d-medium
91.7Normalized Score
33
D4RL MuJoCo halfcheetah-medium
69.1Normalized Score
33
D4RL walker2d full-replay v2
107.4Normalized Score
33
D4RL hopper-full-replay v2
111Normalized Score
33
D4RL HalfCheetah (Expert)
108.8Mean Normalized Score
31
D4RL Maze2D
155.8Return (UMaze)
31
D4RL Hopper-medium
100.42Normalized Score
30
D4RL AntMaze v2 (various)
100UMaze Success Rate
30
D4RL HalfCheetah Med-Replay
72.1Normalized Avg Return
30
D4RL Gym v2 (test)
105.9Score (HalfCheetah, Medium-Expert)
30
D4RL MuJoCo Tasks
1,252.1Average D4RL Locomotion Score (v2)
29
D4RL Adroit hammer-cloned
2,280Normalized Score
29
D4RL Adroit hammer-human
860Normalized Score
29
D4RL Adroit door-human
21.1Mean Normalized Score
29
D4RL Adroit (expert, human)
46.1Adroit Door Return (Human)
29
D4RL Adroit door-cloned
24Mean Normalized Score
28
D4RL Hopper-medium-expert
112.2Normalized Score (100k Steps)
28
D4RL MuJoCo halfcheetah v2 (random)
45.4Normalized Score
28
D4RL MuJoCo hopper random v2
53.6Normalized Score
28
D4RL Medium-Replay v0
55.1Normalized Score
28
D4RL Antmaze
89.2Medium Diverse Success Rate
27
D4RL Locomotion Suite
91.1Average Normalized Score
27
D4RL MuJoCo
71.9HalfCheetah (m)
26
D4RL antmaze-med (diverse)
86.7Normalized Score
26