ResearchBenchmarksLocomotion on D4RL MuJoCo hopperFollow3,281ReturnMODIP243.161,031.831,820.52,609.17Jun 9, 2026Evaluation ResultsMethodMethodLinksReturnMODIP2026.063,281BC2026.063,050DSRL2026.063,023PA-RL2026.062,855TD-MPC22026.062,129DPPO2026.061,612DQL2026.06360