ResearchBenchmarksG2 balanced on HalfCheetah Medium-Replay v2Follow3,718.9Mean Raw MuJoCo ReturnPoE954.6841,672.3172,389.953,107.583Apr 23, 2026Evaluation ResultsMethodMethodLinksMean Raw MuJoCo ReturnPoEalpha=0.7alpha=0.72026.043,718.9PoEalpha=0.5alpha=0.52026.043,666.6KL-Regalpha=0.5alpha=0.52026.043,666.6CQL2026.043,516.4Additivealpha=0.5alpha=0.52026.043,311.9Frozen2026.043,309.9IQL2026.043,309.9Prior2026.043,104.9AWR2026.041,061