ResearchBenchmarksG2 balanced on walker2d medium-expert v2G2 balanced on walker2d medium-expert v2Follow5,014.9Mean Raw MuJoCo ReturnCQL-67.4761,251.9872,571.453,890.913Apr 23, 2026Evaluation resultsMethodMethodLinksMean Raw MuJoCo ReturnCQL2026.045,014.9Frozen2026.044,919.8IQL2026.044,919.8PoEalpha=0.7alpha=0.72026.043,594.9Prior2026.04296.8AWR2026.04285.9Additivealpha=0.5alpha=0.52026.04250.5PoEalpha=0.5alpha=0.52026.04128KL-Regalpha=0.5alpha=0.52026.04128