ResearchBenchmarksG3 efficient on hopper medium-expert v2G3 efficient on hopper medium-expert v2Follow2,561.9Mean Raw MuJoCo ReturnPoE-97.068593.2411,283.551,973.859Apr 23, 2026Evaluation resultsMethodMethodLinksMean Raw MuJoCo ReturnPoEalpha=0.1alpha=0.12026.042,561.9Prior2026.041,700.8PoEalpha=0.5alpha=0.52026.041,618.6KL-Regalpha=0.5alpha=0.52026.041,618.6CQL2026.041,541.5Frozen2026.041,468.5Additivealpha=0.5alpha=0.52026.041,447.4AWR2026.04195.6IQL2026.045.2