# Locomotion on D4RL Gym-MuJoCo walker2d-medium v2 Source: [Locomotion on D4RL Gym-MuJoCo walker2d-medium v2]() Collection index: [llms.txt]() Data updated: 2026-05-19T10:12:20.960Z Evaluation of agent locomotion performance in the D4RL Walker2d environment using the medium dataset configuration, version 2. 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 walker2d-medium v2 | | Metric | Normalized Score | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 19 of 19 | | 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](): Higher is better; unit: PERCENT. ## Recorded results | Method | Normalized Score | Result date | Report paper | | --- | --- | --- | --- | | DyDiff | 86.5 | Not recorded | 68fa73861e209131cea5cf46 | | SynthER | 85 | Not recorded | 68fa73861e209131cea5cf46 | | DiffQL | 84.3 | Not recorded | 68fa73861e209131cea5cf46 | | DyDiff | 84.3 | Not recorded | 68fa73861e209131cea5cf46 | | TD3 + BC | 83.7 | Not recorded | 68fa71411e209131cea5029d | | SynthER | 83.5 | Not recorded | 68fa73861e209131cea5cf46 | | SynthER | 82.5 | Not recorded | 68fa73861e209131cea5cf46 | | Onestep RL | 81.8 | Not recorded | 68fa71411e209131cea5029d | | DyDiff | 79.5 | Not recorded | 68fa73861e209131cea5cf46 | | CQL | 79.3 | Not recorded | 68fa73861e209131cea5cf46 | | IQL | 78.3 | Not recorded | 68fa71411e209131cea5029d | | TD3BC | 76.8 | Not recorded | 68fa73861e209131cea5cf46 | | BC 10% | 75.3 | Not recorded | 68fa71411e209131cea5029d | | BC | 75 | Not recorded | 68fa71411e209131cea5029d | | WT (Ours) | 74.8 | Not recorded | 68fa71411e209131cea5029d | | CQL | 72.5 | Not recorded | 68fa71411e209131cea5029d | | RvS-R/G | 71.7 | Not recorded | 68fa71411e209131cea5029d | | DT | 69.2 | Not recorded | 68fa71411e209131cea5029d | | QDT | 67.1 | Not recorded | 68fa71411e209131cea5029d | ### DyDiff Normalized Score: 86.5. Result ID: 6a0c3771fbc373592c02dfb1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Policy":"TD3BC"}. This record does not assert independent reproduction. ### SynthER Normalized Score: 85. Result ID: 6a0c3771fbc373592c02dfb6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Policy":"DiffQL"}. This record does not assert independent reproduction. ### DiffQL Normalized Score: 84.3. Result ID: 6a0c3771fbc373592c02dfb5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data Augmentation":"None"}. This record does not assert independent reproduction. ### DyDiff Normalized Score: 84.3. Result ID: 6a0c3771fbc373592c02dfb7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Policy":"DiffQL"}. This record does not assert independent reproduction. ### TD3 + BC Normalized Score: 83.7. Result ID: 6991c16e3a6c3148490a5fd3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SynthER Normalized Score: 83.5. Result ID: 6a0c3771fbc373592c02dfb0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Policy":"TD3BC"}. This record does not assert independent reproduction. ### SynthER Normalized Score: 82.5. Result ID: 6a0c3771fbc373592c02dfb3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Policy":"CQL"}. This record does not assert independent reproduction. ### Onestep RL Normalized Score: 81.8. Result ID: 6991c16e3a6c3148490a5fd4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DyDiff Normalized Score: 79.5. Result ID: 6a0c3771fbc373592c02dfb4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Policy":"CQL"}. This record does not assert independent reproduction. ### CQL Normalized Score: 79.3. Result ID: 6a0c3771fbc373592c02dfb2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data Augmentation":"None"}. This record does not assert independent reproduction. ### IQL Normalized Score: 78.3. Result ID: 6991c16e3a6c3148490a5fd6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TD3BC Normalized Score: 76.8. Result ID: 6a0c3771fbc373592c02dfaf. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Data Augmentation":"None"}. This record does not assert independent reproduction. ### BC 10% Normalized Score: 75.3. Result ID: 6991c16e3a6c3148490a5fd7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC Normalized Score: 75. Result ID: 6991c16e3a6c3148490a5fd8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### WT (Ours) Normalized Score: 74.8. Result ID: 6991c16e3a6c3148490a5fdc. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CQL Normalized Score: 72.5. Result ID: 6991c16e3a6c3148490a5fd5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RvS-R/G Normalized Score: 71.7. Result ID: 6991c16e3a6c3148490a5fd9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DT Normalized Score: 69.2. Result ID: 6991c16e3a6c3148490a5fda. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### QDT Normalized Score: 67.1. Result ID: 6991c16e3a6c3148490a5fdb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.