Locomotion on D4RL MuJoCo Tasks (Average across v2 Environments)
1,252.1Average D4RL Locomotion Score (v2)CPQL
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CPQL2026.05 | 1,252.1 | — | — | — | — | — | — | — | — | — | — | |
| EPQreproduced=true2026.05 | 1,193.7 | — | — | — | — | — | — | — | — | — | — | |
| MCQ2026.05 | 1,188.4 | — | — | — | — | — | — | — | — | — | — | |
| CSVE2026.05 | 1,121.4 | — | — | — | — | — | — | — | — | — | — | |
| MISA2026.05 | 1,081.4 | — | — | — | — | — | — | — | — | — | — | |
| IQL2026.05 | 1,033.1 | — | — | — | — | — | — | — | — | — | — | |
| TD3+BC2026.05 | 1,013.2 | — | — | — | — | — | — | — | — | — | — | |
| CQL2026.05 | 1,010.2 | — | — | — | — | — | — | — | — | — | — | |
| BCreproduced=true2026.05 | 744.1 | — | — | — | — | — | — | — | — | — | — | |
| PrefMoEK=42026.05 | 84.3 | 113.4 | — | 79.1 | 87.6 | — | 85.8 | 83.7 | — | 56.3 | — | |
| DHi2026.05 | 83.3 | 109.6 | 79.9 | 81.2 | 111.7 | 90.1 | 97.7 | 94.2 | 43.4 | 41.5 | — | |
| SlimDTcondition injector=adaLN, variant=post-cond2026.05 | 82.6 | 109.5 | 78.6 | 77.6 | 111.1 | 99.4 | 92.5 | 94.2 | 43 | 37.8 | — | |
| DC2026.05 | 82.2 | 109.6 | 79.2 | 76.6 | 110.4 | 92.5 | 94.2 | 93 | 43 | 41.3 | — | |
| ICQL2025.09 | 80.6 | 113.3 | 80.3 | 81.9 | 111 | 62.6 | 96.4 | 89.1 | 45.9 | 44.7 | — | |
| CQL2026.05 | 80.6 | 108.8 | 83 | 77.2 | 105.4 | 69.4 | 95 | 91.6 | 49.2 | 45.5 | — | |
| GDT2026.05 | 79.1 | 107.7 | 76.5 | 77.5 | 111.1 | 77.6 | 85.3 | 93.2 | 42.9 | 40.5 | — | |
| PrefMMT2026.05 | 77.4 | 107.2 | — | 70.4 | 81.4 | — | 78.6 | 79.8 | — | 47 | — | |
| IQL2026.05 | 77 | 109.6 | 78.3 | 73.9 | 91.5 | 66.3 | 94.7 | 86.7 | 47.4 | 44.2 | — | |
| DT2026.05 | 76.2 | 108.1 | 74 | 79.4 | 107.6 | 67.6 | 82.7 | 86.8 | 42.6 | 36.6 | — | |
| CQL2025.09 | 74 | 98.7 | 79.2 | 77.2 | 105.4 | 58 | 95 | 62.4 | 44.4 | 45.5 | — | |
| IQL2025.09 | 72.4 | 109.8 | 71.5 | 61 | 98.5 | 63.3 | 82.4 | 83.4 | 42.5 | 38.9 | — | |
| RIME-offline2026.05 | 67.3 | 96.5 | — | 72.8 | 77.3 | — | 44.8 | 70.1 | — | 42.4 | — | |
| StAR2026.05 | 66.2 | 109 | 73.8 | 39.8 | 111.1 | 59.5 | 29.2 | 93.7 | 42.9 | 36.8 | — | |
| TD3+BC2025.09 | 62.9 | 109.2 | 77 | 41.5 | 78.2 | 53.5 | 59.4 | 62.8 | 43.1 | 41.8 | — | |
| MR2026.05 | 60.7 | 96.4 | — | 68.3 | 67 | — | 27.5 | 69.9 | — | 35 | — | |
| DT2025.09 | 58.8 | 70.7 | 70.2 | 54.8 | 57.5 | 57.1 | 65.8 | 70.8 | 42.8 | 39.5 | — | |
| BCQ2026.05 | 53.8 | 67.3 | 52 | 13.7 | 109.1 | 65.1 | 31.1 | 69.6 | 41.5 | 34.8 | — | |
| BC2026.05 | 52.6 | 107.5 | 75.3 | 32.3 | 52.5 | 52.9 | 18.1 | 55.2 | 42.6 | 36.6 | — | |
| BC2025.09 | 51.9 | 107.5 | 75.3 | 26 | 52.5 | 52.9 | 18.1 | 55.2 | 42.6 | 36.6 | — |