ResearchBenchmarksG2 balanced on halfcheetah medium-expert v2Follow4,796Mean Raw MuJoCo ReturnFrozen828.41,858.452,888.53,918.55Apr 23, 2026Evaluation ResultsMethodMethodLinksMean Raw MuJoCo ReturnFrozen2026.044,796IQL2026.044,796PoEalpha=0.9alpha=0.92026.044,417.1PoEalpha=0.5alpha=0.52026.043,922.3KL-Regalpha=0.5alpha=0.52026.043,922.3CQL2026.043,662.6Additivealpha=0.5alpha=0.52026.043,317.8Prior2026.043,001.9AWR2026.04981