ResearchBenchmarksG3 efficient on halfcheetah medium-replay v2Follow3,926.2Mean Raw MuJoCo ReturnPoE2,006.9842,505.2423,003.53,501.758Apr 23, 2026Evaluation ResultsMethodMethodLinksMean Raw MuJoCo ReturnPoEalpha=0.7alpha=0.72026.043,926.2CQL2026.043,579.7AWR2026.043,412.4Frozen2026.043,309.9IQL2026.043,271.4PoEalpha=0.5alpha=0.52026.042,888.9KL-Regalpha=0.5alpha=0.52026.042,888.9Additivealpha=0.5alpha=0.52026.042,399.7Prior2026.042,080.8