ResearchBenchmarksLocomotion on Antmaze u-divrs v2For AI assistantsMarkdownContent indexLocomotion on Antmaze u-divrs v2Follow99.8D4RL ScoreInverter82.84887.24991.6596.051May 22, 2026Evaluation resultsMethodMethodLinksD4RL ScoreTime per Step (ms)InverterEpisodes=100, Seeds=4,...Episodes=100, Seeds=4, Hardware=single A40 GPU, Framework=PyTorch, Batch size=1, Cuda-synced=true2026.0599.80.14ReBRACEpisodes=100, Seeds=4Episodes=100, Seeds=42026.0583.5—BC-10%Hardware=single A40 GP...Hardware=single A40 GPU, Framework=PyTorch, Batch size=1, Cuda-synced=true2026.05—1.25