ResearchBenchmarksG1 speed on halfcheetah medium-expert v2G1 speed on halfcheetah medium-expert v2Follow4,796Mean Raw MuJoCo ReturnFrozen-686.464736.8682,160.23,583.532Apr 23, 2026Evaluation resultsMethodMethodLinksMean Raw MuJoCo ReturnFrozen2026.044,796IQL2026.044,796CQL2026.04-313.6Prior2026.04-334.3PoEalpha=0.1alpha=0.12026.04-395Additivealpha=0.5alpha=0.52026.04-424.7PoEalpha=0.5alpha=0.52026.04-447.3KL-Regalpha=0.5alpha=0.52026.04-447.3AWR2026.04-475.6