# Locomotion on Antmaze u-umaze v2

Source: [Locomotion on Antmaze u-umaze v2](<https://www.sota2.com/research/sota/locomotion-on-antmaze-u-umaze-v2>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-05-26T07:38:05.762Z

Evaluation of locomotion performance on the Antmaze u-umaze v2 environment, measured using D4RL score and environment step time.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Locomotion |
| Dataset (including any stated split) | Antmaze u-umaze v2 |
| Metric | D4RL Score (%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [D4RL Score (%)](<https://www.sota2.com/research/sota/locomotion-on-antmaze-u-umaze-v2.md?metric=D4RL%20Score%20(%25)>): Higher is better; unit: PERCENT.

- [Time per Environment Step (ms)](<https://www.sota2.com/research/sota/locomotion-on-antmaze-u-umaze-v2.md?metric=Time%20per%20Environment%20Step%20(ms)>): Lower is better; unit: TIME.

## Recorded results

| Method | D4RL Score (%) | Result date | Report paper |
| --- | --- | --- | --- |
| Inverter | 99.5 | Not recorded | 6a1528e1dbd7150506f7dc83 |
| ReBRAC | 97.8 | Not recorded | 6a1528e1dbd7150506f7dc83 |

### Inverter

D4RL Score (%): 99.5. Result ID: 6a154db5fbc373592c0c5bec.

[Reporting paper](<https://www.sota2.com/research/paper/6a1528e1dbd7150506f7dc83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a1528e1dbd7150506f7dc83.md>)

Recorded evaluation configuration: {"Episodes":"100","Seeds":"4","Hardware":"single A40 GPU","Framework":"PyTorch","Batch size":"1","Cuda-synced":"true"}. This record does not assert independent reproduction.

### ReBRAC

D4RL Score (%): 97.8. Result ID: 6a154db5fbc373592c0c5beb.

[Reporting paper](<https://www.sota2.com/research/paper/6a1528e1dbd7150506f7dc83.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f71e209131cea4e71b.md>)

Recorded evaluation configuration: {"Episodes":"100","Seeds":"4"}. This record does not assert independent reproduction.

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