ResearchBenchmarksG2 balanced on hopper medium-expert v2Follow1,577.5Mean Raw MuJoCo ReturnPoE-57.9366.675791.251,215.825Apr 23, 2026Evaluation ResultsMethodMethodLinksMean Raw MuJoCo ReturnPoEalpha=0.7alpha=0.72026.041,577.5CQL2026.041,497.6Frozen2026.041,468.5PoEalpha=0.5alpha=0.52026.04282.8KL-Regalpha=0.5alpha=0.52026.04282.8Additivealpha=0.5alpha=0.52026.04229.3Prior2026.04140.1AWR2026.0429.7IQL2026.045