# Locomotion on D4RL Gym-MuJoCo hopper-medium v2

Source: [Locomotion on D4RL Gym-MuJoCo hopper-medium v2](<https://www.sota2.com/research/sota/locomotion-on-d4rl-gym-mujoco-hopper-medium-v2>)

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

Data updated: 2026-02-26T05:53:50.690Z

Evaluation of agent performance for the Locomotion task using the D4RL Hopper environment configured with the medium v2 dataset.

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) | D4RL Gym-MuJoCo hopper-medium v2 |
| Metric | Normalized Score |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 10 of 10 |
| 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

- [Normalized Score](<https://www.sota2.com/research/sota/locomotion-on-d4rl-gym-mujoco-hopper-medium-v2.md?metric=Normalized%20Score>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Normalized Score | Result date | Report paper |
| --- | --- | --- | --- |
| QDT | 66.5 | Not recorded | 68fa71411e209131cea5029d |
| IQL | 66.2 | Not recorded | 68fa71411e209131cea5029d |
| DT | 63.5 | Not recorded | 68fa71411e209131cea5029d |
| WT (Ours) | 63.1 | Not recorded | 68fa71411e209131cea5029d |
| RvS-R/G | 60.2 | Not recorded | 68fa71411e209131cea5029d |
| Onestep RL | 59.6 | Not recorded | 68fa71411e209131cea5029d |
| TD3 + BC | 59.3 | Not recorded | 68fa71411e209131cea5029d |
| CQL | 58.5 | Not recorded | 68fa71411e209131cea5029d |
| BC | 56.9 | Not recorded | 68fa71411e209131cea5029d |
| BC 10% | 52.9 | Not recorded | 68fa71411e209131cea5029d |

### QDT

Normalized Score: 66.5. Result ID: 6991c16e3a6c3148490a5fd1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f7b1e209131cea45dbf.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### IQL

Normalized Score: 66.2. Result ID: 6991c16e3a6c3148490a5fcc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6af71e209131cea2b67f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DT

Normalized Score: 63.5. Result ID: 6991c16e3a6c3148490a5fd0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a381e209131cea26b46.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### WT (Ours)

Normalized Score: 63.1. Result ID: 6991c16e3a6c3148490a5fd2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Implementation](<https://github.com/sfujim/TD3_BC>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### RvS-R/G

Normalized Score: 60.2. Result ID: 6991c16e3a6c3148490a5fcf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c881e209131cea3485c.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Onestep RL

Normalized Score: 59.6. Result ID: 6991c16e3a6c3148490a5fca.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b631e209131cea2df51.md>)

[Implementation](<https://github.com/davidbrandfonbrener/onestep-rl>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### TD3 + BC

Normalized Score: 59.3. Result ID: 6991c16e3a6c3148490a5fc9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6b631e209131cea2df4f.md>)

[Implementation](<https://github.com/sfujim/TD3_BC>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CQL

Normalized Score: 58.5. Result ID: 6991c16e3a6c3148490a5fcb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682a1e209131cea1a6c2.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### BC

Normalized Score: 56.9. Result ID: 6991c16e3a6c3148490a5fce.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c881e209131cea3485c.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### BC 10%

Normalized Score: 52.9. Result ID: 6991c16e3a6c3148490a5fcd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71411e209131cea5029d.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c881e209131cea3485c.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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