D4RL
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
D4RL kitchen-complete
67.9Test Return
10
D4RL Gym-Locomotion
88.36HalfCheetah Return (Random)
10
D4RL AntMaze
75.9Normalized Score (D4RL)
10
D4RL Maze2D
160.2D4RL Normalized Score
10
D4RL Adroit human cloned v2
94.4Performance (Human Expert)
10
D4RL Hopper-Medium-Replay
98.33Normalized Return
10
D4RL Kitchen Medium
74.5Normalized Performance
10
D4RL adroit (12 tasks)
59Success Rate
10
D4RL HalfCheetah-Medium
63.8Normalized Score
10
D4RL HalfCheetah-Medium-Expert
99.8Normalized Score
10
D4RL Mujoco
35.4Return (HalfCheetah, Random)
10
D4RL antmaze-umaze v2
87.5Normalized Score
10
D4RL Gym-MuJoCo hopper-medium v2
66.5Normalized Score
10
D4RL Adroit Relocate (offline)
2.53Safety Score
9
D4RL MuJoCo v2 (various)
68.2HalfCheetah Medium v2 Score
9
D4RL Kitchen-Complete
25Slide Cabinet Success Rate
9
D4RL Pen
66.7Attack Success Rate (ASR)
9
D4RL Kitchen
96.9ASR
9
D4RL Ant
71.8ASR
9
D4RL Walker2d
99.5ASR
9
D4RL HalfCheetah
100ASR
9
D4RL MuJoCo Locomotion Total
91.5Normalized Score
9
D4RL halfcheetah-medium-expert v2
94.3Normalized Score
9
D4RL halfcheetah-medium v2
53.6Normalized Score
9
D4RL hopper-medium-expert v2
110.2Normalized Score
9