# Locomotion on D4RL MuJoCo Tasks (Average across v2 Environments) Source: [Locomotion on D4RL MuJoCo Tasks (Average across v2 Environments)]() Collection index: [llms.txt]() Data updated: 2026-05-15T09:19:35.846Z Evaluation of agent performance across the primary D4RL MuJoCo Locomotion tasks (Walker2d, Hopper, HalfCheetah) using Medium, Medium-Expert, and Medium-Replay configurations from version 2, typically reported as an average score. 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 MuJoCo Tasks | | Metric | Average D4RL Locomotion Score (v2) | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 29 of 29 | | 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 - [Average D4RL Locomotion Score (v2)](): Higher is better; unit: SCALAR. - [Walker2d Medium Expert v2 Score](): Higher is better; unit: SCALAR. - [Walker2d Medium v2 Score](): Higher is better; unit: SCALAR. - [Walker2d Medium Replay v2 Score](): Higher is better; unit: SCALAR. - [Hopper Medium Expert v2 Score](): Higher is better; unit: SCALAR. - [Hopper Medium v2 Score](): Higher is better; unit: SCALAR. - [Hopper Medium Replay v2 Score](): Higher is better; unit: SCALAR. - [HalfCheetah Medium Expert v2 Score](): Higher is better; unit: SCALAR. - [HalfCheetah Medium v2 Score](): Higher is better; unit: SCALAR. - [HalfCheetah Medium Replay v2 Score](): Higher is better; unit: SCALAR. - [Performance Gain (%)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Average D4RL Locomotion Score (v2) | Result date | Report paper | | --- | --- | --- | --- | | CPQL | 1252.1 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | EPQ | 1193.7 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | MCQ | 1188.4 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | CSVE | 1121.4 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | MISA | 1081.4 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | IQL | 1033.1 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | TD3+BC | 1013.2 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | CQL | 1010.2 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | BC | 744.1 | Not recorded | 6a06a8b8dbc836b87d82a1fe | | PrefMoE | 84.3 | Not recorded | 69f82815c0f56ed843088ab1 | | DHi | 83.3 | Not recorded | 69fd6e155497b3b670c89419 | | SlimDT | 82.6 | Not recorded | 69fd6e155497b3b670c89419 | | DC | 82.2 | Not recorded | 69fd6e155497b3b670c89419 | | ICQL | 80.6 | Not recorded | 68fa7bb51e209131cea8a0fb | | CQL | 80.6 | Not recorded | 69fd6e155497b3b670c89419 | | GDT | 79.1 | Not recorded | 69fd6e155497b3b670c89419 | | PrefMMT | 77.4 | Not recorded | 69f82815c0f56ed843088ab1 | | IQL | 77 | Not recorded | 69fd6e155497b3b670c89419 | | DT | 76.2 | Not recorded | 69fd6e155497b3b670c89419 | | CQL | 74 | Not recorded | 68fa7bb51e209131cea8a0fb | | IQL | 72.4 | Not recorded | 68fa7bb51e209131cea8a0fb | | RIME-offline | 67.3 | Not recorded | 69f82815c0f56ed843088ab1 | | StAR | 66.2 | Not recorded | 69fd6e155497b3b670c89419 | | TD3+BC | 62.9 | Not recorded | 68fa7bb51e209131cea8a0fb | | MR | 60.7 | Not recorded | 69f82815c0f56ed843088ab1 | | DT | 58.8 | Not recorded | 68fa7bb51e209131cea8a0fb | | BCQ | 53.8 | Not recorded | 69fd6e155497b3b670c89419 | | BC | 52.6 | Not recorded | 69fd6e155497b3b670c89419 | | BC | 51.9 | Not recorded | 68fa7bb51e209131cea8a0fb | ### CPQL Average D4RL Locomotion Score (v2): 1252.1. Result ID: 6a06e51647f34ce924eed523. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### EPQ Average D4RL Locomotion Score (v2): 1193.7. Result ID: 6a06e51647f34ce924eed522. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"reproduced":"true"}. This record does not assert independent reproduction. ### MCQ Average D4RL Locomotion Score (v2): 1188.4. Result ID: 6a06e51647f34ce924eed51f. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CSVE Average D4RL Locomotion Score (v2): 1121.4. Result ID: 6a06e51647f34ce924eed521. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MISA Average D4RL Locomotion Score (v2): 1081.4. Result ID: 6a06e51647f34ce924eed520. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### IQL Average D4RL Locomotion Score (v2): 1033.1. Result ID: 6a06e51647f34ce924eed51e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TD3+BC Average D4RL Locomotion Score (v2): 1013.2. Result ID: 6a06e51647f34ce924eed51c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CQL Average D4RL Locomotion Score (v2): 1010.2. Result ID: 6a06e51647f34ce924eed51d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC Average D4RL Locomotion Score (v2): 744.1. Result ID: 6a06e51647f34ce924eed51b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"reproduced":"true"}. This record does not assert independent reproduction. ### PrefMoE Average D4RL Locomotion Score (v2): 84.3. Result ID: 69f85da947f34ce924dc2fe0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"K":"4"}. This record does not assert independent reproduction. ### DHi Average D4RL Locomotion Score (v2): 83.3. Result ID: 69fdb46c47f34ce924e127bf. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SlimDT Average D4RL Locomotion Score (v2): 82.6. Result ID: 69fdb46c47f34ce924e127c0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"condition injector":"adaLN","variant":"post-cond"}. This record does not assert independent reproduction. ### DC Average D4RL Locomotion Score (v2): 82.2. Result ID: 69fdb46c47f34ce924e127be. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ICQL Average D4RL Locomotion Score (v2): 80.6. Result ID: 69bbb90947f34ce924a5afbf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CQL Average D4RL Locomotion Score (v2): 80.6. Result ID: 69fdb46c47f34ce924e127b7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GDT Average D4RL Locomotion Score (v2): 79.1. Result ID: 69fdb46c47f34ce924e127bd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PrefMMT Average D4RL Locomotion Score (v2): 77.4. Result ID: 69f85da947f34ce924dc2fdf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### IQL Average D4RL Locomotion Score (v2): 77. Result ID: 69fdb46c47f34ce924e127b8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DT Average D4RL Locomotion Score (v2): 76.2. Result ID: 69fdb46c47f34ce924e127bb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CQL Average D4RL Locomotion Score (v2): 74. Result ID: 69bbb90947f34ce924a5afbd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### IQL Average D4RL Locomotion Score (v2): 72.4. Result ID: 69bbb90947f34ce924a5afbe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RIME-offline Average D4RL Locomotion Score (v2): 67.3. Result ID: 69f85da947f34ce924dc2fde. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### StAR Average D4RL Locomotion Score (v2): 66.2. Result ID: 69fdb46c47f34ce924e127bc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TD3+BC Average D4RL Locomotion Score (v2): 62.9. Result ID: 69bbb90947f34ce924a5afbc. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MR Average D4RL Locomotion Score (v2): 60.7. Result ID: 69f85da947f34ce924dc2fdd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DT Average D4RL Locomotion Score (v2): 58.8. Result ID: 69bbb90947f34ce924a5afbb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BCQ Average D4RL Locomotion Score (v2): 53.8. Result ID: 69fdb46c47f34ce924e127b9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC Average D4RL Locomotion Score (v2): 52.6. Result ID: 69fdb46c47f34ce924e127ba. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### BC Average D4RL Locomotion Score (v2): 51.9. Result ID: 69bbb90947f34ce924a5afba. [Reporting paper]() Recorded evaluation configuration: Not recorded. 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