ResearchBenchmarksG1 speed on hopper medium-replay v2Follow460Mean Raw MuJoCo ReturnPoE39.112148.381257.65366.919Apr 23, 2026Evaluation ResultsMethodMethodLinksMean Raw MuJoCo ReturnPoEalpha=0.5alpha=0.52026.04460KL-Regalpha=0.5alpha=0.52026.04460PoEalpha=0.9alpha=0.92026.04460Frozen2026.04456.1IQL2026.04456.1CQL2026.04385.3Prior2026.04169.8Additivealpha=0.5alpha=0.52026.0460.9AWR2026.0455.3