ResearchBenchmarksLocomotion on D4RL MuJoCo walkerFollow6,081ReturnMODIP38.61,607.33,1764,744.7Jun 9, 2026Evaluation ResultsMethodMethodLinksReturnMODIP2026.066,081BC2026.065,721TD-MPC22026.065,433PA-RL2026.065,361DSRL2026.064,064DPPO2026.062,848DQL2026.06271