D4RL
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
D4RL halfcheetah-full-replay v2
98.1Normalized Score
25
D4RL Walker-medium-replay v2
91.6Normalized Return
25
D4RL Kitchen Partial
96.6Normalized Performance
24
D4RL Antmaze umaze
100Normalized Score
24
D4RL Gym walker2d (expert)
121.6Normalized Avg Return
24
D4RL Kitchen-Partial
58Normalized Score
23
D4RL Antmaze medium-play
91Normalized Score
23
D4RL Gym halfcheetah-random
35.4Normalized Score
23
D4RL mujoco-hopper (med-replay)
100Normalized Score
23
D4RL hopper-medium-replay
1,993.8Test Return
22
D4RL halfcheetah-medium-expert
9,242.2Test Return
22
D4RL MuJoCo walker2d-medium-replay
95.5Score
22
D4RL (various)
65.9HalfCheetah-Medium
22
D4RL antmaze-medium-diverse
90.2Normalized Score
22
D4RL antmaze-medium-play
88.1Normalized Score
22
D4RL adroit 12 tasks
59Normalized Score
21
D4RL antmaze 6 tasks
84Normalized Score
21
D4RL Hopper random
62.1Mean Normalized Score
21
D4RL Locomotion Full datasets
102.29Hopper Score (m)
21
D4RL Antmaze
74.51Success Rate (Large Diverse)
20
D4RL Maze2D Umaze
140.6Normalized Performance Score
20
D4RL walker2d-medium-expert-sparse
118Average Normalized Reward
19
D4RL hopper-medium-expert-sparse
113Average Normalized Reward
19
D4RL halfcheetah-medium-expert-sparse
106Average Normalized Reward
19
D4RL Gym-MuJoCo walker2d-expert
114.7Normalized Score
19